Procedimiento de auditoría de ciberseguridad para sistemas autónomos: metodología, amenazas y mitigaciones - 2025-11-07 - Research Publication - The cybersecurity-audit methodology is demonstrated through practical case studies on representative autonomous systems. - source: arxiv.org
Learning Neural Observer-Predictor Models for Limb-level Sampling-based Locomotion Planning - 2025-10-26 - Research Publication - To address this, the authors present a learning-based observer-predictor framework that accurately predicts this motion. - source: arxiv.org
Robot Navigation Using Physically Grounded Vision-Language Models in Outdoor Environments - 2024-09-30 - Research Publication - We present a novel autonomous robot navigation algorithm for outdoor environments that is capable of handling diverse terrain traversability conditions. Our approach, VLM-GroNav, uses vision-language models (VLMs) and… - source: arxiv.org
CROSS-GAiT: Cross-Attention-Based Multimodal Representation Fusion for Parametric Gait Adaptation in Complex Terrains - 2024-09-25 - Research Publication - We present CROSS-GAiT, a novel algorithm for quadruped robots that uses Cross Attention to fuse terrain representations derived from visual and time-series inputs; including linear accelerations, angular velocities, and… - source: arxiv.org
Deploying COTS Legged Robot Platforms into a Heterogeneous Robot Team - 2021-06-14 - Research Publication - The recent availability of commercial-off-the-shelf (COTS) legged robot platforms have opened up new opportunities in deploying legged systems into different scenarios. - source: arxiv.org
Quadrupedal Locomotion via Event-Based Predictive Control and QP-Based Virtual Constraints - 2020-04-15 - Research Publication - This paper aims to develop a hierarchical nonlinear control algorithm, based on model predictive control (MPC), quadratic programming (QP), and virtual constraints, to generate and stabilize locomotion patterns in a… - source: arxiv.org
From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation - 2019-09-18 - Research Publication - Using the hybrid zero dynamics (HZD) framework, gaits for these bipedal robots can be rapidly generated (on the order of seconds) along with corresponding controllers. - source: arxiv.org
First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach - 2019-09-17 - Research Publication - The authors present a framework that systematically generates a wide range of optimal trajectories and then provably stabilizes them for the full-order, nonlinear and hybrid dynamical models of quadrupedal locomotion. - source: arxiv.org
Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach - 2019-04-05 - Research Publication - This paper presents a hierarchical control strategy based on hybrid systems theory, nonlinear control, and safety-critical systems to enable cooperative locomotion of robotic guide dogs and visually impaired people. - source: arxiv.org
Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers - 2018-10-15 - Research Publication - This paper presents an analytical framework 1) to address multi-domain hybrid models of quadruped robots with high degrees of freedom, and 2) to systematically design nonlinear controllers that asymptotically stabilize… - source: arxiv.org