STANCE: Locomotion Adaptation over Soft Terrain

1 minute read

Here you can find everything you need to know about our work on locomotion over soft terrain. including the publications, presentation slides, and poster in this page. Feel free to contact me via email, twitter or wherever you can reach me.

Video Presentation

A pre-recorded 10 minutes video and slides of STANCE.


This is the poster that I showed at ICRA.

Selected publication(s):

STANCE: Locomotion Adaptation over Soft Terrain
Shamel Fahmi, Michele Focchi, Andreea Radulescu, Geoff Fink, Victor Barasuol and Claudio Semini
IEEE Transactions on Robotics (T-RO), 2020.

Cite as:

  Title                    = {{STANCE}: Locomotion Adaptation over Soft Terrain},
  Author                   = {S. {Fahmi} and M. {Focchi} and A. {Radulescu} 
                           and G. {Fink} and V. {Barasuol} and C. {Semini}},
  Journal                  = {{IEEE} Trans. Robot. ({T-RO})},
  Year                     = {2019},
  Month                    = {Oct.},
  Pages                    = {1--15},
  doi                      = {10.1109/TRO.2019.2954670},

Passive Whole-Body Control for Quadruped Robots: Experimental Validation Over Challenging Terrain.
Shamel Fahmi, Carlos Mastalli, Michele Focchi and Claudio Semini
IEEE Robotics and Automation Letters (RA-L), 2019

Detailed Slides