Related papers: Autonomous Navigation for Quadrupedal Robots with …
Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down and lift-off events and holonomic constraints for each leg.…
Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down and lift-off events and holonomic constraints for each leg.…
Quadruped robots are increasingly used in various applications due to their high mobility and ability to operate in diverse terrains. However, most available quadruped robots are primarily focused on mobility without object manipulation…
Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…
Quadrupedal locomotion over complex terrain has been a long-standing research topic in robotics. While recent reinforcement learning-based locomotion methods improve generalizability and foot-placement precision, they rely on implicit…
This paper contributes a novel and modularized learning-based method for aerial robots navigating cluttered environments containing hard-to-perceive thin obstacles without assuming access to a map or the full pose estimation of the robot.…
Autonomous navigation in extreme mountainous terrains poses challenges due to the presence of mobility-stressing elements and undulating surfaces, making it particularly difficult compared to conventional off-road driving scenarios. In such…
Exploration and mapping of unknown environments is a fundamental task in applications for autonomous robots. In this article, we present a complete framework for deploying MAVs in autonomous exploration missions in unknown subterranean…
Functional autonomous systems often realize complex tasks by utilizing state machines comprised of discrete primitive behaviors and transitions between these behaviors. This architecture has been widely studied in the context of…
How can a robot navigate successfully in rich and diverse environments, indoors or outdoors, along office corridors or trails on the grassland, on the flat ground or the staircase? To this end, this work aims to address three challenges:…
Space exploration missions have seen use of increasingly sophisticated robotic systems with ever more autonomy. Deep learning promises to take this even a step further, and has applications for high-level tasks, like path planning, as well…
A robot guide dog has compelling advantages over animal guide dogs for its cost-effectiveness, potential for mass production, and low maintenance burden. However, despite the long history of guide dog robot research, previous studies were…
This work proposes a novel transformation termed the conformal navigation transformation to achieve collision-free navigation of a robot in a workspace populated with arbitrary polygonal obstacles. The properties of the conformal navigation…
It is often overlooked by roboticists when designing locomotion controllers for their legged machines, that energy consumption plays an important role in selecting the best gaits for locomotion at high speeds or over long distances. The…
Traditional one-step preview planning algorithms for bipedal locomotion struggle to generate viable gaits when walking across terrains with restricted footholds, such as stepping stones. To overcome such limitations, this paper introduces a…
This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…
Recently, quadrupedal locomotion has achieved significant success, but their manipulation capabilities, particularly in handling large objects, remain limited, restricting their usefulness in demanding real-world applications such as search…
Autonomous navigation in unknown 3D environments is a key issue for intelligent transportation, while still being an open problem. Conventionally, navigation risk has been focused on mitigating collisions with obstacles, neglecting the…
Traversing 3-D complex environments has always been a significant challenge for legged locomotion. Existing methods typically rely on external sensors such as vision and lidar to preemptively react to obstacles by acquiring environmental…
The feet of robots are typically used to design locomotion strategies, such as balancing, walking, and running. However, they also have great potential to perform manipulation tasks. In this paper, we propose a model predictive control…