Related papers: Vision-based Navigation for a Small-scale Quadrupe…
In this work, we present a learning-based pipeline to realise local navigation with a quadrupedal robot in cluttered environments with static and dynamic obstacles. Given high-level navigation commands, the robot is able to safely locomote…
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…
Inspired by human behavior when traveling over unknown terrain, this study proposes the use of probing strategies and integrates them into a traversability analysis framework to address safe navigation on unknown rough terrain. Our…
Quadruped locomotion is rapidly maturing to a degree where robots now routinely traverse a variety of unstructured terrains. However, while gaits can be varied typically by selecting from a range of pre-computed styles, current planners are…
This extended abstract provides a short introduction on our recently developed perception-based controller for quadrupedal locomotion. Compared to our previous approach based on Visual Foothold Adaptation (VFA) and Model Predictive Control…
Stabilizing legged robot locomotion on a dynamic rigid surface (DRS) (i.e., rigid surface that moves in the inertial frame) is a complex planning and control problem. The complexity arises due to the hybrid nonlinear walking dynamics…
Navigating quadruped robots in unstructured 3D environments poses significant challenges, requiring goal-directed motion, effective exploration to escape from local minima, and posture adaptation to traverse narrow, height-constrained…
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…
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…
Continuous robot operation in extreme scenarios such as underground mines or sewers is difficult because exteroceptive sensors may fail due to fog, darkness, dirt or malfunction. So as to enable autonomous navigation in these kinds of…
High-speed legged navigation in discrete and geometrically complex environments is a challenging task because of the high-degree-of-freedom dynamics and long-horizon, nonconvex nature of the optimization problem. In this work, we propose a…
We propose a learning-based method to reconstruct the local terrain for locomotion with a mobile robot traversing urban environments. Using a stream of depth measurements from the onboard cameras and the robot's trajectory, the algorithm…
Quadruped-based mobile manipulation presents significant challenges in robotics due to the diversity of required skills, the extended task horizon, and partial observability. After presenting a multi-stage pick-and-place task as a succinct…
Quadruped robots face limitations in long-range navigation efficiency due to their reliance on legs. To ameliorate the limitations, we introduce a Reinforcement Learning-based Active Transporter Riding method (\textit{RL-ATR}), inspired by…
Quadruped robots demonstrate robust and agile movements in various terrains; however, their navigation autonomy is still insufficient. One of the challenges is that the motion capabilities of the quadruped robot are anisotropic along…
Visual impairments present significant challenges to individuals worldwide, impacting daily activities and quality of life. Visual neuroprosthetics offer a promising solution, leveraging advancements in technology to provide a simplified…
Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…
The quality of the visual feedback can vary significantly on a legged robot that is meant to traverse unknown and unstructured terrains. The map of the environment, acquired with online state-of-the-art algorithms, often degrades after a…
Visual homing is a lightweight approach to visual navigation. Given the stored information of an initial 'home' location, the navigation task back to this location is achieved from any other location by comparing the stored home information…
This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, based…