Scaler: A tough versatile quadruped free-climber robot

Y Tanaka, Y Shirai, X Lin, A Schperberg… - 2022 IEEE/RSJ …, 2022 - ieeexplore.ieee.org
This paper introduces SCALER, a quadrupedal robot that demonstrates climbing on
bouldering walls, over-hangs, ceilings and trotting on the ground. SCALER is one of the first …

Simultaneous contact-rich grasping and locomotion via distributed optimization enabling free-climbing for multi-limbed robots

Y Shirai, X Lin, A Schperberg, Y Tanaka… - 2022 IEEE/RSJ …, 2022 - ieeexplore.ieee.org
While motion planning of locomotion for legged robots has shown great success, motion
planning for legged robots with dexterous multi-finger grasping is not mature yet. We present …

Real-to-Sim: Predicting Residual Errors of Robotic Systems with Sparse Data using a Learning-based Unscented Kalman Filter

A Schperberg, Y Tanaka, F Xu… - … on Ubiquitous Robots …, 2023 - ieeexplore.ieee.org
Achieving highly accurate dynamic or simulator models that are close to the real robot can
facilitate model-based controls (eg, model predictive control or linear-quadradic regulators) …

[PDF][PDF] Real-to-sim: Deep learning with auto-tuning to predict residual errors using sparse data

A Schperberg, Y Tanaka, F Xu, M Menner… - arXiv preprint …, 2022 - researchgate.net
Achieving highly accurate kinematic or simulator models that are close to the real robot can
facilitate model-based controls (eg, model predictive control or linearquadradic regulators) …

Cycloidal Quasi-Direct Drive Actuator Designs with Learning-based Torque Estimation for Legged Robotics

A Zhu, Y Tanaka, F Rafeedi, D Hong - arXiv preprint arXiv:2410.16591, 2024 - arxiv.org
This paper presents a novel approach through the design and implementation of Cycloidal
Quasi-Direct Drive actuators for legged robotics. The cycloidal gear mechanism, with its …

[图书][B] Developing Combinatorial Optimization and Data-driven Methods for Multi-modal Motion Planning

X Lin - 2022 - search.proquest.com
Legged robots require fast and reliable motion planners and controllers to satisfy real-time
implementation requirements. In this dissertation, we investigate the model-based motion …

[PDF][PDF] Scaler-b: A multimodal versatile robot for simultaneous locomotion and grasping

Y Tanaka, A Schperberg, A Zhu, D Hong - IEEE International Conference … - researchgate.net
In our video, we present SCALER-B, a multi-modal versatile climbing robot that is a
quadruped robot capable of standing up, bipedal locomotion, bipedal climbing, and pullups …

Towards Intelligent Robotic Systems: Unifying Model-based Optimization and Machine Learning for Planning, Control, and Estimation

AV Schperberg - 2024 - search.proquest.com
The goal of this work is to formulate algorithms that can address three key ingredients I
believe are necessary towards making robots autonomous and smart:(1) The robot needs to …

[图书][B] Optimization-based Planning and Control for Robust and Dexterous Locomotion and Manipulation through Contact

Y Shirai - 2024 - search.proquest.com
Although robotic locomotion and manipulation have shown some remarkable progress in
the real world, the current locomotion and manipulation algorithms are inefficient in …