Vishal Ramesh
3 papers · Latest:
Robotics
False Feasibility in Variable Impedance MPC for Legged Locomotion
It identifies a "false feasibility" error in variable impedance MPC for legged robots, showing how actuator dynamics cause unrealizable stiffness commands.
2604.22251
RoboticsRobust Fleet Sizing for Multi-UAV Inspection Missions under Synchronized Replacement Demand
This paper proposes a robust fleet-sizing rule for multi-UAV inspection missions that accounts for synchronized battery depletion, ensuring high mission reliability.
2604.15890
RoboticsDTEA: A Dual-Topology Elastic Actuator Enabling Real-Time Switching Between Series and Parallel Compliance
The DTEA is a novel actuator that allows real-time switching between series and parallel elastic compliance, combining their complementary advantages.
2604.15865
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