Vasileios Vasilopoulos

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Terrain compliance is a critical parameter for the performance of legged locomotion. In this work, a single actuator monopod robot hopping on rough compliant terrain is considered. Based on our controller for flat compliant terrains, this paper introduces the necessary modifications, which allow the robot to tackle the disturbance of small inclinations.(More)
Recent successes of missions such as the MSL and the Rosetta have increased the interest in the robotic exploration of other planets and asteroids. Although most of these missions envisage the use of rovers, legged robots have shown the potential to outperform wheeled vehicles on rough terrains in terms of speed and energy efficiency. In this paper, the(More)
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