Advances in real-world applications for legged robots
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The present work tackles integration in mobile robotics. Integration is often considered to be a mere technique, unworthy of scientific investigation. On the contrary, we show that integrating capabilities in a mobile robot entails new questions that the p ...
Recent substantial progress in the domain of indoor positioning systems and a growing number of indoor location-based applications are creating the need for systematic, efficient, and precise experimental methods able to assess the localization and perhaps ...
In this article we described the attempt to build a robot able to locate and follow an human target moving in a domestic environment. After a brief review of the state of the art in relative location technologies, we described our approach that aims to dev ...
In this project, it is desired to learn different acrobatic maneuvers through a set of demonstrations shown by an expert pilot. Due to the complexity of the vehicle's dynamics, at first step, it is necessary to find an appropriate set of states that can be ...
Legged robots have gained an increased attention these past decades since they offer a promising technology for many applications in unstructured environments where the use of wheeled robots is clearly limited. Such applications include exploration and res ...
Robotic ground vehicles are systems that use gravity and contact forces with the ground to perform motion. In this paper we will focus on n-wheeled vehicles able to perform motion with all the wheels maintaining contact at the same time. The main goal of t ...
Central Pattern Generators (CPGs) are becoming a popular model for the control of locomotion of legged robots. Biological CPGs are neural networks responsible for the generation of rhythmic movements, especially locomotion. In robotics, a systematic way of ...
In this paper, we present a stereovision algorithm for real-time 6DoF ego-motion estimation, which integrates normalized cross-correlation-based feature tracking and 3D stereo information in the well-known Iterative Closest Point (ICP) scheme. The proposed ...
Navigating in rough terrain is a complex task that requires the robot to be considered as a holistic system. Algorithms, which don’t consider the physical dimensions and capabilities of the mobile robot lead to inefficient motion and suffer from a la ...
