相关论文: Vision-based Navigation for a Small-scale Quadrupe…
We present MOSU, a novel autonomous long-range navigation system that enhances global navigation for mobile robots through multimodal perception and on-road scene understanding. MOSU addresses the outdoor robot navigation challenge by…
Mobile robot navigation is typically regarded as a geometric problem, in which the robot's objective is to perceive the geometry of the environment in order to plan collision-free paths towards a desired goal. However, a purely geometric…
There is a dramatic shortage of skilled labor for modern vineyards. The Vinum project is developing a mobile robotic solution to autonomously navigate through vineyards for winter grapevine pruning. This necessitates an autonomous…
Bridging the gap between embodied intelligence and embedded deployment remains a key challenge in intelligent robotic systems, where perception, reasoning, and planning must operate under strict constraints on computation, memory, energy,…
Legged robots are able to navigate complex terrains by continuously interacting with the environment through careful selection of contact sequences and timings. However, the combinatorial nature behind contact planning hinders the…
Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…
Robotic vision plays a key role for perceiving the environment in grasping applications. However, the conventional framed-based robotic vision, suffering from motion blur and low sampling rate, may not meet the automation needs of evolving…
Most of the quadrupeds developed are highly actuated, and their control is hence quite cumbersome. They need advanced electronics equipment to solve convoluted inverse kinematic equations continuously. In addition, they demand special and…
For the best human-robot interaction experience, the robot's navigation policy should take into account personal preferences of the user. In this paper, we present a learning framework complemented by a perception pipeline to train a depth…
In this work, we propose a search-based planning method to compute dynamically feasible trajectories for a quadrotor flying in an obstacle-cluttered environment. Our approach searches for smooth, minimum-time trajectories by exploring the…
We propose to take a novel approach to robot system design where each building block of a larger system is represented as a differentiable program, i.e. a deep neural network. This representation allows for integrating algorithmic planning…
Legged locomotion benefits from embodied sensing, where perception emerges from the physical interaction between body and environment. We present a soft-surfaced, vision-based tactile foot sensor that endows a bipedal robot with a skin-like…
Mobile robots navigating in indoor and outdoor environments must be able to identify and avoid unsafe terrain. Although a significant amount of work has been done on the detection of standing obstacles (solid obstructions), not much work…
Learning strategic robot behavior -- like that required in pursuit-evasion interactions -- under real-world constraints is extremely challenging. It requires exploiting the dynamics of the interaction, and planning through both physical…
Panoramic imagery provides holistic 360{\deg} visual coverage for perception in quadruped robots. However, existing occupancy prediction methods are mainly designed for wheeled autonomous driving and rely heavily on RGB cues, limiting their…
Dynamic bipedal walking on discrete terrain, like stepping stones, is a challenging problem requiring feedback controllers to enforce safety-critical constraints. To enforce such constraints in real-world experiments, fast and accurate…
Animals use limbs for both locomotion and manipulation. We aim to equip quadruped robots with similar versatility. This work introduces a system that enables quadruped robots to interact with objects using their legs, inspired by…
Strapdown inertial navigation research involves the parameterization and computation of the attitude, velocity and position of a rigid body in a chosen reference frame. The community has long devoted to finding the most concise and…
Visual perception plays a pivotal role in enabling autonomous behavior, offering a cost-effective and efficient alternative to complex multi-sensor systems. However, robust segmentation remains a challenge in complex scenarios. To address…
Funnel lane concept is a qualitative visual navigation method which helps robots to autonomously navigate by using a recorded video. A visual path is extracted from the video by extracting some keyframes from the video. The robot uses this…