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Rapid and Reliable Quadruped Motion Planning with Omnidirectional Jumping [article]

Matthew Chignoli, Savva Morozov, Sangbae Kim
2022 arXiv   pre-print
We deploy our framework on the Mini Cheetah Vision quadruped, demonstrating the robot's ability to generate and execute reliable, goal-oriented plans that involve forward, lateral, and rotational jumps  ...  Dynamic jumping with legged robots poses a challenging problem in planning and control.  ...  Section V describes the planning algorithm used to generate reliable motion plans involving walking and jumping.  ... 
arXiv:2111.13648v2 fatcat:7357lsfofbelhbxdgmjxuyd2ri

Omnidirectional Jump of a Legged Robot Based on the Behavior Mechanism of a Jumping Spider

Yaguang Zhu, Long Chen, Qiong Liu, Rui Qin, Bo Jin
2018 Applied Sciences  
The results indicate that the jumping robot could maintain stability and complete the planned task of jumping, and the proposed spider-inspired jumping strategy could easily achieve an omnidirectional  ...  A series of experiments on three types of jumping-vertical jumping, sideways jumping and forward jumping-is carried out, while the initial attitude and path planning of the robot is studied.  ...  As the input signal of the whole system, time provides the drive for the control system. The foot trajectory planning and path planning are mainly used to plan the jumping path of the robot.  ... 
doi:10.3390/app8010051 fatcat:fkysxg7f45bw5jagzd6aaj2uoy

Special Feature on Bio-Inspired Robotics

Toshio Fukuda, Fei Chen, Qing Shi
2018 Applied Sciences  
Acknowledgments: This special issue receives technical support by IEEE Robotics and Automation Society (RAS) Technical Committee on Neuro-Robotics Systems, and Technical Committee on Cyborg and Bionic  ...  Conflicts of Interest: The authors declare no conflict of interest.  ...  Quadruped Robots In order to effectively plan the robot gaits and foot workspace trajectory (WT) synchronously, Zeng et al. present a novel biologically inspired control strategy for the locomotion of  ... 
doi:10.3390/app8050817 fatcat:umcpvvryxbfnvlmwvlcmsynj3q

Locomotion skills for simulated quadrupeds

Stelian Coros, Andrej Karpathy, Ben Jones, Lionel Reveret, Michiel van de Panne
2011 ACM Transactions on Graphics  
Figure 1 : Real-time physics-based quadruped simulations of gaits (walk, trot, canter, transverse gallop, pace, rotary gallop), gait transitions, sitting and standing up, targeted jumps, and jumps on-to  ...  Abstract We develop an integrated set of gaits and skills for a physics-based simulation of a quadruped.  ...  This work was supported by NSERC and GRAND.  ... 
doi:10.1145/2010324.1964954 fatcat:afipxe5kvveinfjfcutk4bai6y

Locomotion skills for simulated quadrupeds

Stelian Coros, Andrej Karpathy, Ben Jones, Lionel Reveret, Michiel van de Panne
2011 ACM SIGGRAPH 2011 papers on - SIGGRAPH '11  
Figure 1 : Real-time physics-based quadruped simulations of gaits (walk, trot, canter, transverse gallop, pace, rotary gallop), gait transitions, sitting and standing up, targeted jumps, and jumps on-to  ...  Abstract We develop an integrated set of gaits and skills for a physics-based simulation of a quadruped.  ...  This work was supported by NSERC and GRAND.  ... 
doi:10.1145/1964921.1964954 fatcat:ikgjzg5g4fcdfk6qmdv37ggiru

Detection of Landmines Using Nuclear Quadrupole Resonance (NQR): Signal Processing to Aid Classification [chapter]

S. D. Somasundaram, K. Althoefer, J. A. S. Smith, L. D. Seneviratne
2006 Climbing and Walking Robots  
The objective is to establish a very simple, rapid and robust interaction between the humanoid robot and the person.  ...  Mobile robots do not become tired or bored, are incorruptible and reliable and can be equipped with all kinds of sensors to detect hazards and intruders where humans cannot.  ...  Abstract We describe an optimized method for calibrating the walk parameters of a quadruped robot.  ... 
doi:10.1007/3-540-26415-9_100 dblp:conf/clawar/SomasundaramASS05 fatcat:4vu25zlx65dszgbcxkusxozfve

NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge [article]

Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey Edlund, Muhammad Fadhil Ginting, Kamak Ebadi (+60 others)
2021 arXiv   pre-print
over the robot and world states).  ...  We discuss various components of the NeBula framework, including: (i) geometric and semantic environment mapping; (ii) a multi-modal positioning system; (iii) traversability analysis and local planning  ...  We would like to thank the rest of Team CoSTAR, our collaborators, and advisors for their support, fruitful discussions and their contributions to the project.  ... 
arXiv:2103.11470v4 fatcat:rq2wgczzl5clphzgujjdbd3ywm

Theta phase coding in a network model of the entorhinal cortex layer II with entorhinal-hippocampal loop connections

Jun Igarashi, Hatsuo Hayashi, Katsumi Tateno
2006 Cognitive Neurodynamics  
of a retrained neural network to ensure high reliability.  ...  To move to another floor, a mobile robot should recognize various objects related to an elevator, e.g., elevator control, call buttons, and LED displays.  ...  References Acknowledgments This work was supported by Korea Ministry of Knowledge Economy under Intelligent Robot program.  ... 
doi:10.1007/s11571-006-9003-8 pmid:19003510 pmcid:PMC2267667 fatcat:avihqfr6a5e7tm43lythi27n3a

Evolution of functional specialization in a morphologically homogeneous robot

Joshua Auerbach, Josh C. Bongard
2009 Proceedings of the 11th Annual conference on Genetic and evolutionary computation - GECCO '09  
E. and J. C. Bongard. (2009). How robot morphology and training order affect the learning of multiple behaviors.  ...  Particular focus is given to methods which evolve not only the control policies of manually-designed robots, but instead evolve both the control policy and physical form of the robot.  ...  , adaptivity 12 , and reliability (due to their redundancy).  ... 
doi:10.1145/1569901.1569915 dblp:conf/gecco/AuerbachB09 fatcat:pj7filcoufc7tb23ux3agpra5u

The Single-Track Three Legged Mobile Robot

John R. Goulding
2012 Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B   unpublished
Motion planning for this swing leg involves controlling two parameters.  ...  Trotting is running at a rapid speed, and pacing is running at constant speed.  ...  uprighted goto state_support endif endif ;Yea, robot is uprighted!  ... 
doi:10.1115/detc2012-70147 fatcat:fym5rjfa5vc6nnrrcwn3zlstjy

Omnidirectional gait generating algorithm for hexapod robot [article]

Michael Fielding, University Of Canterbury
2011
Hexapodal (six-legged) walking machines have advantages over bipedal and quadrupedal machines in the areas of stability, payload and simplicity, as well as the ability to operate with damaged or broken  ...  Omnidirectional walking requires the adaptation of leg movements to the locomotion direction and robustness to unusual leg lifting positions.  ...  Acknowledgements The following people and entities deserve and receive my unreserved thanks:  ... 
doi:10.26021/3557 fatcat:xt4q46lr5jghdctp3ueoack3qq

Towards Agility: Definition, Benchmark and Design Considerations for Small, Quadrupedal Robots

Peter Eckert
2018
your little one, may he be happy and healthy), Salman (for making me realize that robots should be constructed very sturdy and your genius math skills), Jessica (for bringing a bit of Italian liveliness  ...  (for studies involving beer and grilled meat), Kostas (Ma..., thank you for Beachvolley, Training in the basement of INN and all the good times singing at bbq's), Sébastien (for introducing "real" French  ...  Acknowledgements Acknowledgements future endeavors will be fruitful, and we can stay friends for a long time to come. Acknowledgements  ... 
doi:10.5075/epfl-thesis-8592 fatcat:7pgw5to5n5cdbcqedehruqrsly

Planning and Control Strategies for Motion and Interaction of the Humanoid Robot COMAN+

FRANCESCO RUSCELLI
2021
the environment and the nature of the task itself, while regular locomotion involves the generation of periodic trajectories of the limbs.  ...  Separate planning and control architectures targeting these aspects of biped motion are designed and developed both from a theoretical and a practical standpoint, demonstrating their efficacy on the new  ...  motions are autonomously planned and sent to the robot as joint-space trajectories.  ... 
doi:10.15167/ruscelli-francesco_phd2021-04-21 fatcat:2frgltov5zg5lhokwdkja3aoqa

Experience-driven optimal motion synthesis in complex and shared environments [article]

Wolfgang Xaver Merkt, University Of Edinburgh, University Of Edinburgh, Sethu Vijayakumar, Michael Mistry
2020
Slow convergence makes them unsuitable for live deployment and online re-planning of motion policies in response to changes in the task or environment.  ...  Optimal loco-manipulation planning and control for high-dimensional systems based on general, non-linear optimisation allows for the specification of versatile motion subject to complex constraints.  ...  planned whole-body trajectories reliably.  ... 
doi:10.7488/era/358 fatcat:j7xbw3o3sffd5cb54gvjvbh5q4

Table of Contents

2021 2021 40th Chinese Control Conference (CCC)   unpublished
ZENG Ming, MA Yu, WANG Zhijing, LI Qi 3978 Research and Realization of Target Following and Autonomous Obstacle Avoidance Algorithm of Quadruped Robot . . . . .  ...  WANG Xinyu, HE Haiyan, LIN Zhe, HU Qinglei 2790 A New Repetitive Motion Planning Scheme Based on Gradient Descent for Omnidirectional Mobile Robot Manipulators . . . . . . . . . . . .  ... 
doi:10.23919/ccc52363.2021.9550117 fatcat:55y7a2gagfhtpc6llmfvl7gqpm
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