Robust Rough-Terrain Locomotion with a Quadrupedal Robot (ANYmal)
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- Опубликовано: 18 сен 2017
- We present a motion planner for the perceptive rough-terrain locomotion with quadrupedal robots. The planner finds safe footholds along with collision-free swing-leg motions by leveraging an acquired terrain map. To this end, we present a novel pose optimization approach that enables the robot to climb over significant obstacles. We experimentally validate our approach with the quadrupedal robot ANYmal by autonomously traversing obstacles such steps, inclines, and stairs. The locomotion planner re-plans the motion at every step to cope with disturbances and dynamic environments. The robot has no prior knowledge of the scene, and all mapping, state estimation, control, and planning is performed in real-time onboard the robot.
This work has been published as:
Fankhauser, P., Bjelonic, M., Bellicoso, C. D., Miki, T., and Hutter, M. (2018). “Robust Rough-Terrain Locomotion with a Quadrupedal Robot”. In: IEEE International Conference on Robotics and Automation (ICRA).
This work has been conducted as part of ANYmal Research, a community to advance legged robotics.
www.anymal-research.com 
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You guys inspire me!
that's great!
He is my favourite robot after Boston Dynamics creatures! Very good work, guys, waiting for new videos! :)
He is my favorite robot, topping even Boston Dynamics' robots!
my favorite robot！！！
take love
AHaaaaa !
how heavy would this be?
Good luck getting it to traverse my apartment floor.
How about trying to find the better strategy to walk through the obstacle instead of just adapting the walk second by second ? When a human or animal is walking he just try to find the better way to walk faster from point A to B. Here the robot is trying hard to walk without making any changes in its path, he seems condemned to go on a straight line.
Remember a time when robots could only walk over a smooth flat floor. These test are about making progress.
Cool. I'm building a 2 legged full size walking robot on my channel. Let me know what you think.
Мотор колесо дуюнова вышло на краундинвестинг
Please tell me I'm not the only idiot wanting to say encouraging things to this friggin robot as it makes its way over the obstacles. Like, "c'mon little guy - you can do it... you can do it... yaaaay you did it!"
It's bad enough wanting to talk to something that won't understand you, let alone making emotional appeals to a machine devoid of emotion.
Ffs Sine, get ahold of yourself..
I felt you.