相关论文: Terrain characterization and locomotion adaptation…
Traversing risky terrains with sparse footholds presents significant challenges for legged robots, requiring precise foot placement in safe areas. To acquire comprehensive exteroceptive information, prior studies have employed motion…
Today, the most widespread, widely applicable technology for gathering data relies on experienced scientists armed with handheld radio telemetry equipment to locate low-power radio transmitters attached to wildlife from the ground. Although…
This letter presents a multi-scenario adaptable intelligent robot simulation platform based on LIDAR-inertial fusion, with three main features: (1 The platform includes an versatile robot model that can be freely controlled through manual…
Most legged robots are built with leg structures from serially mounted links and actuators and are controlled through complex controllers and sensor feedback. In comparison, animals developed multi-segment legs, mechanical coupling between…
This paper presents the design, development and testing of GiAnt, an affordable hexapod which is inspired by the efficient motions of ants. The decision to model GiAnt after ants rather than other insects is rooted in ants' natural…
Locomotion is typically studied either in continuous media where bodies and legs experience forces generated by the flowing medium, or on solid substrates dominated by friction. In the former, centralized coordination is believed to…
LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…
Understanding environment dynamics is necessary for robots to act safely and optimally in the world. In realistic scenarios, dynamics are non-stationary and the causal variables such as environment parameters cannot necessarily be precisely…
While significant research progress has been made in robot learning for control, unique challenges arise when simultaneously co-optimizing morphology. Existing work has typically been tailored for particular environments or representations.…
Learning adaptable policies is crucial for robots to operate autonomously in our complex and quickly changing world. In this work, we present a new meta-learning method that allows robots to quickly adapt to changes in dynamics. In contrast…
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…
Snake robots offer exceptional mobility across extreme terrain inaccessible to conventional rovers, yet their highly articulated bodies present fundamental challenges for autonomous navigation in environments lacking external tracking…
Skeleton-based isolated sign language recognition (ISLR) demands fine-grained understanding of articulated motion across multiple spatial scales, from subtle finger movements to global body dynamics. Existing approaches typically rely on…
We propose a novel low-complexity lidar gesture recognition system for mobile robot control robust to gesture variation. Our system uses a modular approach, consisting of a pose estimation module and a gesture classifier. Pose estimates are…
In nature, a variety of limbless locomotion patterns flourish from the small or basic life form (Escherichia coli, the amoeba, etc.) to the large or intelligent creatures (e.g., slugs, starfishes, earthworms, octopuses, jellyfishes, and…
We present an open-source untethered quadrupedal soft robot platform for dynamic locomotion (e.g., high-speed running and backflipping). The robot is mostly soft (80 vol.%) while driven by four geared servo motors. The robot's soft body and…
Vision-Language-Action (VLA) models have demonstrated remarkable capabilities in robotic manipulation,enabling robots to execute natural language commands through end-to-end learning from visual observations.However, deploying large-scale…
Humanoid robots that can autonomously operate in diverse environments have the potential to help address labour shortages in factories, assist elderly at homes, and colonize new planets. While classical controllers for humanoid robots have…
Rovers require knowledge of terrain to plan trajectories that maximize safety and efficiency. Terrain type classification relies on input from human operators or machine learning-based image classification algorithms. However, high level…
The objective of this work is to expand upon previous works, considering socially acceptable behaviours within robot navigation and interaction, and allow a robot to closely approach static and dynamic individuals or groups. The space…