Related papers: Dynamic Object Catching with Quadruped Robot Front…
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…
Legged robots can outperform wheeled machines for most navigation tasks across unknown and rough terrains. For such tasks, visual feedback is a fundamental asset to provide robots with terrain-awareness. However, robust dynamic locomotion…
Throwing with a legged robot involves precise coordination of object manipulation and locomotion - crucial for advanced real-world interactions. Most research focuses on either manipulation or locomotion, with minimal exploration of tasks…
Dynamic target detection and target tracking are hot issues in the field of image. In order to explore its application value in the field of mobile robot, a dynamic target detection and tracking system is designed based on hexapod robot.…
To generate reliable motion for legged robots through trajectory optimization, it is crucial to simultaneously compute the robot's path and contact sequence, as well as accurately consider the dynamics in the problem formulation. In this…
The development of aerial autonomy has enabled aerial robots to fly agilely in complex environments. However, dodging fast-moving objects in flight remains a challenge, limiting the further application of unmanned aerial vehicles (UAVs).…
This paper proposes a combined optimization and learning method for impact-friendly, non-prehensile catching of objects at non-zero velocity. Through a constrained Quadratic Programming problem, the method generates optimal trajectories up…
We show dynamic locomotion strategies for wheeled quadrupedal robots, which combine the advantages of both walking and driving. The developed optimization framework tightly integrates the additional degrees of freedom introduced by the…
In this paper, we present an efficient Dynamic Programing framework for optimal planning and control of legged robots. First we formulate this problem as an optimal control problem for switched systems. Then we propose a multi--level…
In this work we present a trajectory Optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automatically discover different gaits and dynamic motions on a…
This paper presents a deep learning framework designed to enhance the grasping capabilities of quadrupeds equipped with arms, with a focus on improving precision and adaptability. Our approach centers on a sim-to-real methodology that…
A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…
This study explores the dynamics of asymmetrical bounding gaits in quadrupedal robots, focusing on the integration of torso pitching and hip motion to enhance speed and stability. Traditional control strategies often enforce a fixed…
Performing highly agile acrobatic motions with a long flight phase requires perfect timing, high accuracy, and coordination of the full-body motion. To address these challenges, we present a novel approach on timings and trajectory…
The ability to detect pedestrians and other moving objects is crucial for an autonomous vehicle. This must be done in real-time with minimum system overhead. This paper discusses the implementation of a surround view system to identify…
Operations in hazardous environments put humans, animals, and machines at high risk for physically damaging consequences. In contrast to humans and animals, quadruped robots cannot naturally identify and adjust their locomotion to a…
The heavy-load legged robot has strong load carrying capacity and can adapt to various unstructured terrains. But the large weight results in higher requirements for motion stability and environmental perception ability. In order to utilize…
Performing highly agile dynamic motions, such as jumping or running on uneven stepping stones has remained a challenging problem in legged robot locomotion. This paper presents a framework that combines trajectory optimization and model…
Jumping is essential for legged robots to traverse through difficult terrains. In this work, we propose a hierarchical framework that combines optimal control and reinforcement learning to learn continuous jumping motions for quadrupedal…
Manipulating deformable objects arises in daily life and numerous applications. Despite phenomenal advances in industrial robotics, manipulation of deformable objects remains mostly a manual task. This is because of the high number of…