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Vision-Aided Autonomous Navigation of Underactuated Bipedal Robots in Height-Constrained Environments [article]

Zhongyu Li, Jun Zeng, Shuxiao Chen, Koushil Sreenath
2022 arXiv   pre-print
This paper presents an end-to-end vision-aided autonomous navigation framework which leverages three layers of planners and a variable walking height controller to enable bipedal robots to safely explore  ...  Navigating a large-scaled robot in unknown and cluttered height-constrained environments is challenging.  ...  Acknowledgments This work is supported in part by National Science Foundation Grant CMMI-1944722.  ... 
arXiv:2109.05714v3 fatcat:v5v3ex64ijcmzhfya36wa7mfwy

Robot DE NIRO: A Human-Centered, Autonomous, Mobile Research Platform for Cognitively-Enhanced Manipulation

Fabian Falck, Sagar Doshi, Marion Tormento, Gor Nersisyan, Nico Smuts, John Lingi, Kim Rants, Roni Permana Saputra, Ke Wang, Petar Kormushev
2020 Frontiers in Robotics and AI  
DE NIRO is designed to be used in a domestic environment, especially in support of caregivers working with the elderly.  ...  Given this design focus, DE NIRO can interact naturally, reliably, and safely with humans, autonomously navigate through environments on command, intelligently retrieve or move target objects, and avoid  ...  We acknowledge the work of various students in the Robot Intelligence Lab working on the hardware design of DE NIRO and extending its functionalities, particularly Clara Pouletty, Emilk Sempertegui Aveiga  ... 
doi:10.3389/frobt.2020.00066 pmid:33501234 pmcid:PMC7805901 fatcat:kfz6zajfubhkrn7unay6srvoyy

Online LiDAR-SLAM for Legged Robots with Robust Registration and Deep-Learned Loop Closure [article]

Milad Ramezani, Georgi Tinchev, Egor Iuganov, Maurice Fallon
2020 arXiv   pre-print
In this paper, we present a factor-graph LiDAR-SLAM system which incorporates a state-of-the-art deeply learned feature-based loop closure detector to enable a legged robot to localize and map in industrial  ...  CPU of a legged robot, a major contribution of this work.  ...  Compared to bipedal robots, quadrupedal robots have better versatility and resilience when navigating challenging terrain.  ... 
arXiv:2001.10249v1 fatcat:zt6dmd3livdtdflvx2zvsceoxy

Humans and Robots: A Mutually Inclusive Relationship in a Contagious World

Akash Gupta, Anshuman Singh, Deepak Bharadwaj, Amit Kumar Mondal
2021 International Journal of Automation and Computing  
Hence, an intersection between these strategies and the technological advantages of robotics, artificial intelligence, and autonomous systems is essential for near-to-normal operation.  ...  In this review paper, different applications of robotic systems, various aspects of modern technologies, including medical imaging, telemedicine, and supply chains, have been covered with respect to the  ...  The robot uses light detection and ranging (LIDAR) sensors to map the environment and then uses simultaneous localization and mapping (SLAM) to navigate in the environment.  ... 
doi:10.1007/s11633-020-1266-8 fatcat:57o2nrc6lncbpoux6245g2ltmi

Multi-Task Learning for Scalable and Dense Multi-Layer Bayesian Map Inference [article]

Lu Gan, Youngji Kim, Jessy W. Grizzle, Jeffrey M. Walls, Ayoung Kim, Ryan M. Eustice, Maani Ghaffari
2021 arXiv   pre-print
in different environments.  ...  We present extensive experimental results on publicly available data sets and data collected by a 3D bipedal robot platform on the University of Michigan North Campus and show reliable mapping performance  ...  Self-Supervised Learning for Traversability Estimation Traversability analysis/estimation of the environment is crucial for autonomous navigation in a non-end-to-end framework.  ... 
arXiv:2106.14986v1 fatcat:46cq2tsyvfgy7drac2aqi2awwq

Table of contents

2010 ICCAS 2010  
Measurements 1912 Seong Jin Kim and Byung Kook Kim FEP-39 Development of an autonomous outdoor patrol robot in private road environment 1918 Jiyong Jin, Changbae Jung, Donghyeon Kim and Woojin  ...  autonomous navigation method for nonholonomic mobile robots based on the generalized Voronoi diagram 309 MINGLEI SHAO and Ji-yeong Lee TP03-6 Optimal Trajectory Planning of a Mobile Robot with  ... 
doi:10.1109/iccas.2010.5669694 fatcat:43uj6owxh5c63gr2mn5shli5ja

Visual detection of vehicles using a bag-of-features approach

Pedro Pinto, Ana Tome, Vitor Santos
2013 2013 13th International Conference on Autonomous Robot Systems  
works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.  ...  Personal use of this material is permitted.  ...  ACKNOWLEDGMENTS The authors thank the valuable assistance of João Rodrigues in the development of the work reported in this paper.  ... 
doi:10.1109/robotica.2013.6623539 fatcat:ialsxj53yzfkfe5f766krtkkrq

Rearrangement: A Challenge for Embodied AI [article]

Dhruv Batra, Angel X. Chang, Sonia Chernova, Andrew J. Davison, Jia Deng, Vladlen Koltun, Sergey Levine, Jitendra Malik, Igor Mordatch, Roozbeh Mottaghi, Manolis Savva, Hao Su
2020 arXiv   pre-print
To facilitate research and exploration, we present experimental testbeds of rearrangement scenarios in four different simulation environments.  ...  In the rearrangement task, the goal is to bring a given physical environment into a specified state.  ...  We thank Joseph Lim for participating in early discussions. We also thank the AI2-THOR, Habitat, RL-Bench, and SAPIEN teams for releasing the experimental testbeds described in this report.  ... 
arXiv:2011.01975v1 fatcat:a7olb6osxndmjlxkxlcr2xnolq

Kinematic control and posture optimization of a redundantly actuated quadruped robot

T. Thomson, I. Sharf, B. Beckman
2012 2012 IEEE International Conference on Robotics and Automation  
MHT est un robot quadrupède hybride autonome composé de pattes articulées hydrauliques et de roues électriques.  ...  I would also like to thank my girlfriend Erica Dancose for the near infinite number of times she has supported me and kept me fed during my long hours in front of a computer screen.  ...  This reconfigurable robot was created for use in a military environment in an 1. Introduction autonomous capacity.  ... 
doi:10.1109/icra.2012.6224927 dblp:conf/icra/ThomsonSB12 fatcat:7scm2wcme5bxxkesgyxiblq5ai

Hands-free Telelocomotion of a Wheeled Humanoid toward Dynamic Mobile Manipulation via Teleoperation [article]

Amartya Purushottam, Yeongtae Jung, Kevin Murphy, Donghoon Baek, Joao Ramos
2022 arXiv   pre-print
In this study we evaluate the efficacy of the proposed system on hardware, and explore the control of SATYRR using two teleoperation mappings that map the operators body pitch and twist to the robot velocity  ...  This system enables telelocomotion of the humanoid robot using the operator body motion, freeing their arms for manipulation tasks.  ...  The authors are with the 1 Department of Electrical and Computer Engineering and the 2 Department of Mechanical Science and Engineering at the University of Illinois at Urbana-Champaign, USA.  ... 
arXiv:2203.03558v1 fatcat:n4mmquxrlzfnhpnk7nxlce3a2e

A review on locomotion robophysics: the study of movement at the intersection of robotics, soft matter and dynamical systems

Jeffrey Aguilar, Tingnan Zhang, Feifei Qian, Mark Kingsbury, Benjamin McInroe, Nicole Mazouchova, Chen Li, Ryan Maladen, Chaohui Gong, Matt Travers, Ross L Hatton, Howie Choset (+2 others)
2016 Reports on progress in physics (Print)  
The essential idea is that we must complement study of complex robots in complex situations with systematic study of simplified robophysical devices in controlled laboratory settings and simplified theoretical  ...  Using examples from our and other's research, we will discuss how such robophysical studies have begun to aid engineers in the creation of devices that begin to achieve life-like locomotor abilities on  ...  Much like the air bearing constrained 1-D SLIP hopper [84] , such constrained and simple environments facilitated a systematic robophysics-like examination of stable bipedal walking.  ... 
doi:10.1088/0034-4885/79/11/110001 pmid:27652614 fatcat:qhn6swo7gvaqndqxbdxjq3vlny


Chris Prahacs, Aaron Saudners, Matthew K. Smith, Dave McMordie, Martin Buehler
2011 Proceedings of the Canadian Engineering Education Association (CEEA)  
This paper describes the evolution of RHex, a power-autonomous legged land-based robot, into one capable of both sea and land-based locomotion.  ...  In working towards an amphibious robot, three versions of RHex with increasing levels of aquatic capability were created.  ...  Conclusions: We described a succession of RHex robot designs that increasingly span the transition from land to water, and improve the platforms ruggedness.  ... 
doi:10.24908/pceea.v0i0.4043 fatcat:v6jdmufncngjjd3get4xevtqie

The novel characteristics of pterosaurs: biological inspiration for robotic vehicles

S. Chatterjee, R. Lind, B. Roberts
2013 International Journal of Design & Nature and Ecodynamics  
Bioinspiration and biomimetic have led to a variety of robotic designs, especially small autonomous unmanned aerial vehicles for urban environment that have taken cues from birds, bats, and insects.  ...  An initial design for a robotic vehicle is described, which incorporates some of the characteristics of the Tapejara wellnhoferi.  ...  Brebbia for inviting us to contribute this paper and Texas Tech University and University of Florida for continued support in our research.  ... 
doi:10.2495/dne-v8-n2-113-143 fatcat:ogosyow36zgd3kb7gclaxta4y4

Simulation for improvement of dynamic path planning in autonomous search and rescue robots

M. D. Hasler, P. Gaynor, D. Carnegie
2009 2009 IEEE International Conference on Control and Automation  
This project aims to improve autonomous robot navigation through allowing comparison of algorithms with various weightings, in conjunction with the ability to vary physical parameters of the robot and  ...  To hasten the process of saving lives after disasters in urban areas, autonomous robots are being looked to for providing mapping, hazard identification and casualty location.  ...  to the already problematic task of autonomous navigation.  ... 
doi:10.1109/icca.2009.5410391 fatcat:qsnxwdhktrfhhe6nuhn7vqvhiu

Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot

Scott Kuindersma, Robin Deits, Maurice Fallon, Andrés Valenzuela, Hongkai Dai, Frank Permenter, Twan Koolen, Pat Marion, Russ Tedrake
2015 Autonomous Robots  
This paper describes a collection of optimization algorithms for achieving dynamic planning, control, and state estimation for a bipedal robot designed to operate reliably in complex environments.  ...  We describe our complete system integration and experiments carried out on Atlas, a full-size hydraulic humanoid robot built by Boston Dynamics, Inc.  ...  We would like to thank the members of the Robot Locomotion Group and the MIT DRC Team for their insights and supporting contributions to this work.  ... 
doi:10.1007/s10514-015-9479-3 fatcat:qakwplqehfgvnkzgcyrjfygomi
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