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Probabilistic Terrain Mapping for Mobile Robots With Uncertain Localization

Publications associées (53)

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Concurrent Optimization of Mechanical Design and Locomotion Control of a Legged Robot

Roland Siegwart

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

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

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

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

Contact-based navigation for an autonomous flying robot

Dario Floreano, Jean-Christophe Zufferey, Adrien Briod, Adam Klaptocz, Przemyslaw Mariusz Kornatowski, Arnaud Garnier, Marco Pagnamenta

Autonomous navigation in obstacle-dense indoor environments is very challenging for flying robots due to the high risk of collisions, which may lead to mechanical damage of the platform and eventual failure of the mission. While conventional approaches in ...

2013

State Estimation for Legged Robots on Unstable and Slippery Terrain

Roland Siegwart, Marco Hutter

This paper presents a state estimation approach for legged robots based on stochastic filtering. The key idea is to extract information from the kinematic constraints given through the intermittent contacts with the ground and to fuse this information with ...

2013

Despite great efforts in designing legged robots, we are still far from the adaptivity, efficiency and robustness with which animals can move. Observations from successful biomimetic designs highlight the significant role of clever morphological design in ...

EPFL2013

Data-driven extraction of drive functions for legged locomotion: A study on Cheetah-cub robot

Auke Ijspeert, Mostafa Ajallooeian, Alexandre Tuleu

The process of finding working gaits for legged robots always, to different extents, includes manual tuning, systematic search, or optimization of control parameters. This process populates a dataset of control parameter vectors and respective robot behavi ...

2013

Estimation of the temporal derivatives of a noisy position signal is a ubiquitous problem in industrial and robotics engineering. Here, we propose a new approach to get velocity and acceleration estimates of cyclical/periodic signals near to steady-state r ...

Ieee-Inst Electrical Electronics Engineers Inc2013