Artificial perception for robots operating in outdoor natural environments, including forest
scenarios, has been the object of a substantial amount of research for decades. Regardless …

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 …

Humans can perform parkour by traversing obstacles in a highly dynamic fashion requiring
precise eye-muscle coordination and movement. Getting robots to do the same task requires …

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 …

Legged robots that can operate autonomously in remote and hazardous environments will
greatly increase opportunities for exploration into underexplored areas. Exteroceptive …

Legged robots have the potential to expand the reach of autonomy beyond paved roads. In
this work, we consider the difficult problem of locomotion on challenging terrains using a …

Autonomous exploration of subterranean environments remains a major challenge for
robotic systems. In response, this paper contributes a novel graph‐based subterranean …

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 …

Although ground robotic autonomy has gained widespread usage in structured and
controlled environments, autonomy in unknown and off-road terrain remains a difficult …

We study the problem of mobile manipulation using legged robots equipped with an arm,
namely legged loco-manipulation. The robot legs, while usually utilized for mobility, offer an …