相关论文: Terrain Classification for the Spot Quadrupedal Mo…
We consider the spatial classification problem for monitoring using data collected by a coordinated team of mobile robots. Such classification problems arise in several applications including search-and-rescue and precision agriculture.…
Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of the underactuated dynamics of the system. Reliably optimizing for such motions and interactions in the presence of imperfect and…
Intra-class terrain differences such as water content directly influence a vehicle's ability to traverse terrain, yet RGB vision systems may fail to distinguish these properties. Evaluating a terrain's spectral content beyond red-green-blue…
Legged robots need to make contact with irregular surfaces, when operating in unstructured natural terrains. Representing and perceiving these areas to reason about potential contact between a robot and its surrounding environment, is still…
Bipedal robots have advantages in maneuvering human-centered environments, but face greater failure risk compared to other stable mobile platforms such as wheeled or quadrupedal robots. While learning-based traversability has been widely…
Traversing terrains with sparse footholds like legged animals presents a promising yet challenging task for quadruped robots, as it requires precise environmental perception and agile control to secure safe foot placement while maintaining…
Legged robots that can operate autonomously in remote and hazardous environments will greatly increase opportunities for exploration into under-explored areas. Exteroceptive perception is crucial for fast and energy-efficient locomotion:…
Traversability illustrates the difficulty of driving through a specific region and encompasses the suitability of the terrain for traverse based on its physical properties, such as slope and roughness, surface condition, etc. In this survey…
Legged robots are popular candidates for missions in challenging terrains due to the wide variety of locomotion strategies they can employ. Terrain classification is a key enabling technology for autonomous legged robots, as it allows the…
In this paper, we present a general learning framework for controlling a quadruped robot that can mimic the behavior of real animals and traverse challenging terrains. Our method consists of two steps: an imitation learning step to learn…
Environmental information can provide reliable prior information about human motion intent, which can aid the subject with wearable robotics to walk in complex environments. Previous researchers have utilized 1D signal and 2D images to…
Quadrupedal robots resemble the physical ability of legged animals to walk through unstructured terrains. However, designing a controller for quadrupedal robots poses a significant challenge due to their functional complexity and requires…
Task space trajectory tracking for quadruped robots plays a crucial role on achieving dexterous maneuvers in unstructured environments. To fulfill the control objective, the robot should apply forces through the contact of the legs with the…
Ground robots require the crucial capability of traversing unstructured and unprepared terrains and avoiding obstacles to complete tasks in real-world robotics applications such as disaster response. When a robot operates in off-road field…
Humanoid robots offer significant advantages for search and rescue tasks, thanks to their capability to traverse rough terrains and perform transportation tasks. In this study, we present a task and motion planning framework for search and…
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…
In this paper, we present a framework rooted in control and planning that enables quadrupedal robots to traverse challenging terrains with discrete footholds using visual feedback. Navigating discrete terrain is challenging for quadrupeds…
Navigating in off-road environments for wheeled mobile robots is challenging due to dynamic and rugged terrain. Traditional physics-based stability metrics, such as Static Stability Margin (SSM) or Zero Moment Point (ZMP) require knowledge…
Being able to estimate the traversability of the area surrounding a mobile robot is a fundamental task in the design of a navigation algorithm. However, the task is often complex, since it requires evaluating distances from obstacles, type…
We present AMCO, a novel navigation method for quadruped robots that adaptively combines vision-based and proprioception-based perception capabilities. Our approach uses three cost maps: general knowledge map; traversability history map;…