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Published at December 4

Soft Adaptive Feet for Legged Robots: An Open-Source Model for Locomotion Simulation

cs.RO

cs.SY

eess.SY

Released Date: December 4, 2024

Authors: Matteo Crotti¹, Luca Rossini¹, Anna Pace¹, Giorgio Grioli¹, Antonio Bicchi¹, Manuel G. Catalano¹

Aff.: ¹Fondazione Istituto Italiano di Tecnologia, Genoa, Italy

Arxiv: http://arxiv.org/pdf/2412.03191v1

Refer to caption

	HEEL	MODULES	METATARSUS
MuJoCo	14,6%	33,2%	21,7%
MuJoCo Filtered	10,5%	21,2%	13,1%
Analytical	31,0%	59,5%	7,2%
Analytical Filtered	22,4%	54,5%	5,2%