Quadrupeds


Jiatao Ding, Perry Posthoorn, Vassil Atanassov, Fabio Boekel, Jens Kober, and Cosimo Della Santina. Quadrupedal Locomotion with Parallel Compliance: E-Go Design, Modelling and Control. IEEE/ASME Transactions on Mechatronics, :1-10, 2024. [bibtex] [pdf] [doi] [video] green open access


Jiatao Ding, Vassil Atanassov, Edoardo Panichi, Jens Kober, and Cosimo Della Santina. Robust Quadrupedal Jumping with Impact-Aware Landing: Exploiting Parallel Elasticity. IEEE Transactions on Robotics, 40():3212-3231, 2024. [bibtex] [pdf] [doi] [video] green open access


Vassil Atanassov, Jiatao Ding, Jens Kober, Ioannis Havoutis, and Cosimo Della Santina. Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Design. arXiv:2401.16337 [cs.RO], 2024. [bibtex] [pdf] [doi] [code] [video] bronze open access


Francecso Vezzi, Jiatao Ding, Antonin Raffin, Jens Kober, and Cosimo Della Santina. Two-Stage Learning of Highly Dynamic Motions with Rigid and Articulated Soft Quadrupeds. In IEEE International Conference on Robotics and Automation (ICRA), 2024. [bibtex] [pdf] [code] [video] green open access


Jiatao Ding, Mees Alexander van Löben Sels, Franco Angelini, Jens Kober, and Cosimo Della Santina. Robust Jumping with an Articulated Soft Quadruped via Trajectory Optimization and Iterative Learning. IEEE Robotics and Automation Letters, 9(1):255–262, 2024. [bibtex] [pdf] [doi] [video] green open access