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. The case-study set includes the Vision 60 military quadruped from Ghost Robotics. The paper adds… - 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. The authors validated the system by integrating their neural predictor into an MPPI-based planner on… - source: arxiv.org
Robot Navigation Using Physically Grounded Vision-Language Models in Outdoor Environments - 2024-09-30 - Research Publication - VLM-GroNav combines vision-language models with physical grounding for outdoor terrain assessment and navigation. The team validated the method on a Ghost Robotics Vision 60 and a Clearpath Husky across deformable and… - source: arxiv.org
CROSS-GAiT: Cross-Attention-Based Multimodal Representation Fusion for Parametric Gait Adaptation in Complex Terrains - 2024-09-25 - Research Publication - CROSS-GAiT fuses visual and time-series terrain representations for adaptive quadruped gait control. The work adjusts step height and hip splay parameters in response to terrain such as vegetation, sand, gravel, and… - source: arxiv.org
Deploying COTS Legged Robot Platforms into a Heterogeneous Robot Team - 2021-06-14 - Research Publication - The paper studies commercial off-the-shelf legged robots inside a heterogeneous robot team. The authors deploy Ghost Robotics Vision 60 and Boston Dynamics Spot as quadruped platforms for comparison and integration work.… - 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. This methodology is demonstrated through the rapid… - 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. The… - 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. To… - 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