Learning quadrupedal locomotion over challenging terrain
Legged locomotion can extend the operational domain of robots to some of the most
challenging environments on Earth. However, conventional controllers for legged …
challenging environments on Earth. However, conventional controllers for legged …
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 …
Leg state estimation for quadruped robot by using probabilistic model with proprioceptive feedback
J Sun, L Zhou, B Geng, Y Zhang… - IEEE/ASME transactions …, 2024 - ieeexplore.ieee.org
Legged robots are sent into outdoor environments and desired to explore unstructured
terrains like animals in nature. Therefore, the ability to robustly detect leg phase transitions …
terrains like animals in nature. Therefore, the ability to robustly detect leg phase transitions …
Contact model fusion for event-based locomotion in unstructured terrains
As legged robots are sent into unstructured environments, the ability to robustly manage
contact transitions will be a critical skill. This paper introduces an approach to …
contact transitions will be a critical skill. This paper introduces an approach to …
Agile maneuvers in legged robots: a predictive control approach
C Mastalli, W Merkt, G **, and whole-body control
Planning whole-body motions while taking into account the terrain conditions is a
challenging problem for legged robots since the terrain model might produce many local …
challenging problem for legged robots since the terrain model might produce many local …
Dynamic walking with compliance on a cassie bipedal robot
The control of bipedal robotic walking remains a challenging problem in the domains of
computation and experiment, due to the multi-body dynamics and various sources of …
computation and experiment, due to the multi-body dynamics and various sources of …
Pronto: A multi-sensor state estimator for legged robots in real-world scenarios
In this paper, we present a modular and flexible state estimation framework for legged robots
operating in real-world scenarios, where environmental conditions, such as occlusions, low …
operating in real-world scenarios, where environmental conditions, such as occlusions, low …
Robust legged robot state estimation using factor graph optimization
Legged robots, specifically quadrupeds, are becoming increasingly attractive for industrial
applications such as inspection. However, to leave the laboratory and to become useful to …
applications such as inspection. However, to leave the laboratory and to become useful to …
Dynamic locomotion on slippery ground
Dynamic locomotion on unstructured and uneven terrain is a challenging task in legged
robotics. Especially when it comes to slippery ground conditions, common state estimation …
robotics. Especially when it comes to slippery ground conditions, common state estimation …