Related papers: Dynamic Object Catching with Quadruped Robot Front…
In this paper, we propose a method for selecting the optimal footholds for legged systems. The goal of the proposed method is to find the best foothold for the swing leg on a local elevation map. We apply the Convolutional Neural Network to…
Entanglements like vines and branches in natural settings or cords and pipes in human spaces prevent mobile robots from accessing many environments. Legged robots should be effective in these settings, and more so than wheeled or tracked…
We present a novel approach to perform probabilistic collision detection between a high-DOF robot and high-DOF obstacles in dynamic, uncertain environments. In dynamic environments with a high-DOF robot and moving obstacles, our approach…
Deep learning has significantly advanced computer vision and natural language processing. While there have been some successes in robotics using deep learning, it has not been widely adopted. In this paper, we present a novel robotic grasp…
Mobile manipulators consist of a mobile platform equipped with one or more robot arms and are of interest for a wide array of challenging tasks because of their extended workspace and dexterity. Typically, mobile manipulators are deployed…
We present a reinforcement learning (RL) framework that enables quadrupedal robots to perform soccer goalkeeping tasks in the real world. Soccer goalkeeping using quadrupeds is a challenging problem, that combines highly dynamic locomotion…
This paper addresses the challenge of terrain-adaptive dynamic locomotion in humanoid robots, a problem traditionally tackled by optimization-based methods or reinforcement learning (RL). Optimization-based methods, such as model-predictive…
We propose a framework for deformable linear object prediction. Prediction of deformable objects (e.g., rope) is challenging due to their non-linear dynamics and infinite-dimensional configuration spaces. By mapping the dynamics from a…
Accurate detection and tracking of objects is vital for effective video understanding. In previous work, the two tasks have been combined in a way that tracking is based heavily on detection, but the detection benefits marginally from the…
Perching on the moving platforms is a promising solution to enhance the endurance and operational range of quadrotors, which could benefit the efficiency of a variety of air-ground cooperative tasks. To ensure robust perching, tracking with…
Dynamical System has been widely used for encoding trajectories from human demonstration, which has the inherent adaptability to dynamically changing environments and robustness to perturbations. In this paper we propose a framework to…
Adaptive robots in dynamic production environments require robust perception capabilities, including 6D pose estimation and multi-object tracking. To address limitations in real-world data dependency, noise robustness, and spatiotemporal…
A great advantage of legged robots is their ability to operate on particularly difficult and obstructed terrain, which demands dynamic, robust, and precise movements. The study of obstacle courses provides invaluable insights into the…
Parkour tasks for quadrupeds have emerged as a promising benchmark for agile locomotion. While human athletes can effectively perceive environmental characteristics to select appropriate footholds for obstacle traversal, endowing legged…
Wheeled-legged robots combine the efficiency of wheels with the obstacle negotiation of legs, yet many state-of-the-art systems rely on costly actuators and sensors, and fall-recovery is seldom integrated, especially for wheeled-legged…
Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous driving field have investigated the 3D object detection…
Achieving human-like dexterous manipulation remains a crucial area of research in robotics. Current research focuses on improving the success rate of pick-and-place tasks. Compared with pick-and-place, throwing-catching behavior has the…
This paper addresses object perception applied to mobile robotics. Being able to perceive semantically meaningful objects in unstructured environments is a key capability in order to make robots suitable to perform high-level tasks in home…
Quadrupeds are strong candidates for navigating challenging environments because of their agile and dynamic designs. This paper presents a methodology that extends the range of exploration for quadrupedal robots by creating an end-to-end…
This paper presents a vision guidance and control method for autonomous robotic capture and stabilization of orbital objects in a time-critical manner. The method takes into account various operational and physical constraints, including…