The work presents a review on ongoing researches in terrain-related challenges influencing
the navigation of Autonomous Robots, specifically Unmanned Ground ones. The paper aims …

The effectiveness of the robot locomotion can be measured using the cost of transport (CoT)
which represents the amount of energy that is needed for traversing from one place to …

Characterization of terrain in real time allows autonomous legged robots to modify their gait
to better suit their environment and recognize hazardous conditions. We present a novel …

Introducing Myrmex, a hexapod robot designed for autonomous locomotion on unstructured
terrains. It was developed a whole-body kinematics model that enables both open-chain and …

In this study, we address generalized autonomous mobile robot exploration of unknown
environments where a robotic agent learns a traversability model and builds a spatial model …

Safe and autonomous obstacle avoidance plays an important role in the navigation control
of hexapod robots. In this paper, we combine the method of reinforcement learning with …

This paper concerns online learning of terrain properties combining haptic perception with
exteroceptive sensing to reason about forces needed to pass through terrains that visually …

This article presents a new control algorithm for the omnidirectional motion of a legged robot
on uneven terrain based on an analytical kinematic solution without the use of Jacobians. In …

摘要六足机器人拥有多个冗余自由度, 适用于复杂的非结构环境. 离散环境作为非结构环境的
一个苛刻特例, 需要六足机器人具备更加高效可靠的运动策略. 以平面随机梅花桩为例 …

In this paper, we address traversability cost estimation using exteroceptive and
proprioceptive data collected by a team of aerial and ground vehicles. The main idea of the …