Andreea Radulescu
Papers
8
Total Citations
355
H-Index
8
About
Andreea Radulescu is a leading roboticist whose research focuses on legged locomotion, state estimation, and whole-body control for quadruped robots operating in complex, unstructured environments. Her work bridges the gap between theoretical control frameworks and practical deployment on rough and deformable terrains. Radulescu’s most cited paper (110 citations) introduces a probabilistic contact estimation and impact detection method that significantly improves state estimation for quadruped robots, enabling more reliable leg odometry without dedicated foot sensors. She further advanced rough terrain locomotion through a trajectory and foothold optimization framework (85 citations) that jointly optimizes center-of-mass motion and foothold placement using terrain costmaps. Her STANCE framework (68 citations) extends whole-body control to soft terrains by accounting for unmodeled contact dynamics, a critical step beyond rigid-ground assumptions. Radulescu has also contributed to variable physical impedance actuation, exploring how variable damping can enhance rapid movement tasks. Her work on spatio-temporal optimization for multi-phase movements addresses the challenges of contacts and switching dynamics in variable stiffness actuation systems. With over 340 total citations, Radulescu’s research is essential reading for anyone working on legged robotics, particularly in state estimation, terrain adaptation, and impedance control.
Research Focus
Key Achievements
Top Papers
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- 3STANCE: Locomotion Adaptation Over Soft Terrain68 citations · 2020
- 4Exploiting variable physical damping in rapid movement tasks46 citations · 2012
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- 7Spatio-temporal stiffness optimization with switching dynamics12 citations · 2016
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