Author

Giovanni B. Dessy

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Preprint Oct 2026

LocoPilot: Single-Operator Bilateral Teleoperation for Loco-Manipulation Policy Learning

Learning loco-manipulation policies requires demonstrations that capture coordinated base and arm motion on the target embodiment. Robot-free interfaces allow demonstrations to be collected independently of the target robot, increasing flexibility but without directly capturing platform-specific commands, proprioceptio...

A. Langella, G. Minelli, Giovanni B. Dessy et al. · 0 citations

Preprint Sep 2026

Gait-Dependent Effects on Quadruped Locomotion for Load-Carrying using Passive Mechanism

Passive mechanical interfaces offer a lightweight alternative to actuated manipulators for quadruped payload carrying, but their impedance directly couples the payload dynamics with the locomotion pattern. This paper analyzes how passive-arm stiffness-damping selection affects payload-carrying locomotion under differen...

Giovanni Dessy, Claudio Semini, V. Barasuol · 0 citations