Related papers: Terrain Classification for the Spot Quadrupedal Mo…
Differentiable simulation has become a powerful tool for system identification. While prior work has focused on identifying robot properties using robot-specific data or object properties using object-specific data, our approach calibrates…
In this paper, we propose an interoceptive-only odometry system for ground robots with neural network processing and soft constraints based on the assumption of a globally continuous ground manifold. Exteroceptive sensors such as cameras,…
We consider the problem of developing robots that navigate like pedestrians on sidewalks through city centers for performing various tasks including delivery and surveillance. One particular challenge for such robots is crossing streets…
Legged robots carry an IMU, but the inertial solution drifts because consumer-grade IMUs are noisy. However, the feet create intermittent contacts with the environment that can be used to mitigate that drift. This report develops a sequence…
This paper presents a framework for dynamic object catching using a quadruped robot's front legs while it stands on its rear legs. The system integrates computer vision, trajectory prediction, and leg control to enable the quadruped to…
Successful deployment of mobile robots in unstructured domains requires an understanding of the environment and terrain to avoid hazardous areas, getting stuck, and colliding with obstacles. Traversability estimation--which predicts where…
For robots with low rigidity, determining the robot's state based solely on kinematics is challenging. This is particularly crucial for a robot whose entire body is in contact with the environment, as accurate state estimation is essential…
Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially…
This paper introduces a system of data collection acceleration and real-to-sim transferring for surface recognition on a quadruped robot. The system features a mechanical single-leg setup capable of stepping on various easily…
Recent advancements in legged robot perceptive locomotion have shown promising progress. However, terrain-aware humanoid locomotion remains largely constrained to two paradigms: depth image-based end-to-end learning and elevation map-based…
Proprioceptive localization refers to a new class of robot egocentric localization methods that do not rely on the perception and recognition of external landmarks. These methods are naturally immune to bad weather, poor lighting…
Scene graphs enhance 3D mapping capabilities in robotics by understanding the relationships between different spatial elements, such as rooms and objects. Recent research extends scene graphs to hierarchical layers, adding and leveraging…
In the field of locomotion task of quadruped robots, Blind Policy and Perceptive Policy each have their own advantages and limitations. The Blind Policy relies on preset sensor information and algorithms, suitable for known and structured…
We present a real-time algorithm for emotion-aware navigation of a robot among pedestrians. Our approach estimates time-varying emotional behaviors of pedestrians from their faces and trajectories using a combination of Bayesian-inference,…
We present a novel control strategy for dynamic legged locomotion in complex scenarios, that considers information about the morphology of the terrain in contexts when only on-board mapping and computation are available. The strategy is…
Bipedal robots represent a remarkable and sophisticated class of robotics, designed to emulate human form and movement. Their development marks a significant milestone in the field. However, even the most advanced bipedal robots face…
Traversability estimation in off-road terrains is an essential procedure for autonomous navigation. However, creating reliable labels for complex interactions between the robot and the surface is still a challenging problem in…
In this paper, an stereo-based traversability analysis approach for all terrains in off-road mobile robotics, e.g. Unmanned Ground Vehicles (UGVs) is proposed. This approach reformulates the problem of terrain traversability analysis into…
Robots hold promise in many scenarios involving outdoor use, such as search-and-rescue, wildlife management, and collecting data to improve environment, climate, and weather forecasting. However, autonomous navigation of outdoor trails…
Robots are increasingly integrated across industries, particularly in healthcare. However, many valuable applications for quadrupedal robots remain overlooked. This research explores the effectiveness of three reinforcement learning…