VILENS: Visual, inertial, lidar, and leg odometry for all-terrain legged robots
We present visual inertial lidar legged navigation system (VILENS), an odometry system for
legged robots based on factor graphs. The key novelty is the tight fusion of four different …
legged robots based on factor graphs. The key novelty is the tight fusion of four different …
Agile but safe: Learning collision-free high-speed legged locomotion
Legged robots navigating cluttered environments must be jointly agile for efficient task
execution and safe to avoid collisions with obstacles or humans. Existing studies either …
execution and safe to avoid collisions with obstacles or humans. Existing studies either …
Vital: Vision-based terrain-aware locomotion for legged robots
This article focuses on vision-based planning strategies for legged robots that separate
locomotion planning into foothold selection and pose adaptation. Current pose adaptation …
locomotion planning into foothold selection and pose adaptation. Current pose adaptation …
Haptr2: Improved haptic transformer for legged robots' terrain classification
The haptic terrain classification is an essential component of a mobile walking robot control
system, ensuring proper gait adaptation to the changing environmental conditions. In …
system, ensuring proper gait adaptation to the changing environmental conditions. In …
A novel 6 DOFs generalized parallel manipulator design and analysis based on humanoid leg
In this paper, a 6 degrees of freedom (DOFs) generalized parallel manipulator is presented
which can be used as a humanoid leg. Based on the Number Synthesis and Graph …
which can be used as a humanoid leg. Based on the Number Synthesis and Graph …
Computational design of reconfigurable underactuated linkages for adaptive grippers
II Borisov, EE Khomutov, SA Kolyubin… - 2021 IEEE/RSJ …, 2021 - ieeexplore.ieee.org
We present an optimization-based structural-parametric synthesis method for reconfigurable
closed-chain underactuated linkages for robotic systems that physically interact with the …
closed-chain underactuated linkages for robotic systems that physically interact with the …
Reinforcement learning for legged robots: Motion imitation from model-based optimal control
AJ Miller, S Fahmi, M Chignoli, S Kim - arXiv preprint arXiv:2305.10989, 2023 - arxiv.org
We propose MIMOC: Motion Imitation from Model-Based Optimal Control. MIMOC is a
Reinforcement Learning (RL) controller that learns agile locomotion by imitating reference …
Reinforcement Learning (RL) controller that learns agile locomotion by imitating reference …
[HTML][HTML] On slip detection for quadruped robots
Legged robots are meant to autonomously navigate unstructured environments for
applications like search and rescue, inspection, or maintenance. In autonomous navigation …
applications like search and rescue, inspection, or maintenance. In autonomous navigation …
State estimation and traversability map construction method of a quadruped robot on soft uneven terrain
P Kang, X Mu, W Xu, Y Xu - Journal of Field Robotics, 2023 - Wiley Online Library
Quadruped robots show excellent application prospects in complex environment detection
and rescue. At present, scholars mainly focus on quadruped walking in rigid environments …
and rescue. At present, scholars mainly focus on quadruped walking in rigid environments …
Design of galloping robots with elastic spine: Tracking relations between dynamic model parameters based on motion analysis of a real cheetah
One way to create a quadruped galloping robot from scratch is to design a brick-shaped
body and utilize relatively simple open-chain leg mechanisms controlled with relatively …
body and utilize relatively simple open-chain leg mechanisms controlled with relatively …