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Cerberus in the darpa subterranean challenge
M Tranzatto, T Miki, M Dharmadhikari, L Bernreiter… - Science Robotics, 2022 - science.org
This article presents the core technologies and deployment strategies of Team CERBERUS
that enabled our winning run in the DARPA Subterranean Challenge finals. CERBERUS is a …
that enabled our winning run in the DARPA Subterranean Challenge finals. CERBERUS is a …
Learning-based legged locomotion: State of the art and future perspectives
S Ha, J Lee, M van de Panne, Z **e… - … Journal of Robotics …, 2024 - journals.sagepub.com
Legged locomotion holds the premise of universal mobility, a critical capability for many real-
world robotic applications. Both model-based and learning-based approaches have …
world robotic applications. Both model-based and learning-based approaches have …
Anymal parkour: Learning agile navigation for quadrupedal robots
Performing agile navigation with four-legged robots is a challenging task because of the
highly dynamic motions, contacts with various parts of the robot, and the limited field of view …
highly dynamic motions, contacts with various parts of the robot, and the limited field of view …
Legged locomotion in challenging terrains using egocentric vision
Animals are capable of precise and agile locomotion using vision. Replicating this ability
has been a long-standing goal in robotics. The traditional approach has been to decompose …
has been a long-standing goal in robotics. The traditional approach has been to decompose …
Perceptive locomotion through nonlinear model-predictive control
Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance,
and planning of the underactuated dynamics of the system. Reliably optimizing for such …
and planning of the underactuated dynamics of the system. Reliably optimizing for such …
Learning robust autonomous navigation and locomotion for wheeled-legged robots
J Lee, M Bjelonic, A Reske, L Wellhausen, T Miki… - Science Robotics, 2024 - science.org
Autonomous wheeled-legged robots have the potential to transform logistics systems,
improving operational efficiency and adaptability in urban environments. Navigating urban …
improving operational efficiency and adaptability in urban environments. Navigating urban …
Scientific exploration of challenging planetary analog environments with a team of legged robots
The interest in exploring planetary bodies for scientific investigation and in situ resource
utilization is ever-rising. Yet, many sites of interest are inaccessible to state-of-the-art …
utilization is ever-rising. Yet, many sites of interest are inaccessible to state-of-the-art …
Dtc: Deep tracking control
F Jenelten, J He, F Farshidian, M Hutter - Science Robotics, 2024 - science.org
Legged locomotion is a complex control problem that requires both accuracy and
robustness to cope with real-world challenges. Legged systems have traditionally been …
robustness to cope with real-world challenges. Legged systems have traditionally been …
Fast traversability estimation for wild visual navigation
J Frey, M Mattamala, N Chebrolu, C Cadena… - arxiv preprint arxiv …, 2023 - arxiv.org
Natural environments such as forests and grasslands are challenging for robotic navigation
because of the false perception of rigid obstacles from high grass, twigs, or bushes. In this …
because of the false perception of rigid obstacles from high grass, twigs, or bushes. In this …
Learning to walk in confined spaces using 3d representation
T Miki, J Lee, L Wellhausen… - 2024 IEEE International …, 2024 - ieeexplore.ieee.org
Legged robots have the potential to traverse complex terrain and access confined spaces
beyond the reach of traditional platforms thanks to their ability to carefully select footholds …
beyond the reach of traditional platforms thanks to their ability to carefully select footholds …