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Roland Siegwart

Publications associées (148)

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Detection of Slippery Terrain with a Heterogeneous Team of Legged Robots

Roland Siegwart

Legged robots come in a range of sizes and capabilities. By combining these robots into heterogeneous teams, joint locomotion and perception tasks can be achieved by utilizing the diversified features of each robot. In this work we present a framework for ...

2014

An Evaluation of Moreau’s time-stepping scheme for the simulation of a legged robot

Roland Siegwart

A state-of-the-art simulation technique that solves the equations of motion together with the set-valued contact and impulse laws by the time-stepping scheme of Moreau is introduced to the legged robotics community. An analysis is given that shows which of ...

2014

Towards Automatic Discovery of Agile Gaits for Quadrupedal Robots

Roland Siegwart, Marco Hutter

Developing control methods that allow legged robots to move with skill and agility remains one of the grand challenges in robotics. In order to achieve this ambitious goal, legged robots must possess a wide repertoire of motor skills. A scalable control ar ...

2014

Excitation and Stabilization of Passive Dynamics in Locomotion using Hierarchical Operational Space Control

Roland Siegwart, Marco Hutter

This paper describes a hierarchical operational space control (OSC) method based on least square optimization and outlines different ways to reduce the dimensionality of the optimization vector. The framework allows to emulate various behaviors by prioriti ...

2014

This paper introduces a method to simultaneously optimize design and control parameters for legged robots to improve the performance of locomotion based tasks. The morphology of a quadrupedal robot was optimized for a trotting and bounding gait to achieve ...

2014

Fusion of Optical Flow and Inertial Measurements for Robust Egomotion Estimation

Roland Siegwart, Marco Hutter

In this paper we present a method for fusing optical flow and inertial measurements. To this end, we derive a novel visual error term which is better suited than the standard continuous epipolar constraint for extracting the information contained in the op ...

2014

Quadrupedal locomotion using hierarchical operational space control

Roland Siegwart, Marco Hutter

This paper presents the application of operational space control based on hierarchical task optimization for quadrupedal locomotion. We show how the behavior of a complex robotic machine can be described by a simple set of least squares problems with diffe ...

2014

Adaptive pulsed laser line extraction for terrain reconstruction using a dynamic vision sensor

Roland Siegwart, Marco Hutter

Mobile robots need to know the terrain in which they are moving for path planning and obstacle avoidance. This paper proposes the combination of a bio-inspired, redundancy-suppressing dynamic vision sensor (DVS) with a pulsed line laser to allow fast terra ...

2014

This paper introduces a novel batch optimization based calibration framework for legged robots. Given a nondegenerate calibration dataset and considering the stochastic models of the sensors, the task is formulated as a maximum likelihood problem. In order ...

2013

Unsupervised Identification and Prediction of Foothold Robustness

Roland Siegwart, Marco Hutter

This paper addresses the problem of evaluating and estimating the mechanical robustness of footholds for legged robots in unstructured terrain. In contrast to approaches that rely on human expert knowledge or human defined criteria to identify appropriate ...

2013