BRATTA A.

This paper presents the design of a novel container mechanism, tailored for autonomous robotic trash collection, specifically designed for mounting on quadruped robots. The commercial AlienGo and Z1 Unitree robotic arm, along with the container developed in this project, have been integrated to form a robotic system capable of effectively...

Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility constraints to be included in a Single Rigid Body Dynamics-based trajectory optimizer in order to obtain robust motions in challenging terrain. The first one finds an...