ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots

Fahmi, Shamel; Barasuol, Victor; Esteban, Domingo; Villarreal, Octavio; Semini, Claudio

doi:10.1109/tro.2022.3222958

Cited by 7 publications

(4 citation statements)

References 58 publications

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“…[22][23][24] This can be achieved by modifying the feet of a quadrupedal robot with implantable tactile sensors for tight integration. [16,20,25,26] Furthermore, implantable tactile sensors can inform quadrupedal robots of the ground condition, allowing them to calculate important quantities such as the center of mass and zero-moment point. [7] As illustrated in Figure 1c, Aoyagi et al developed an arrayed capacitive tactile sensor, which was then integrated with the sole of a legged robot for real-time 3D force detection.…”

Section: Implantsmentioning

confidence: 99%

“…[ 22–24 ] This can be achieved by modifying the feet of a quadrupedal robot with implantable tactile sensors for tight integration. [ 16,20,25,26 ] Furthermore, implantable tactile sensors can inform quadrupedal robots of the ground condition, allowing them to calculate important quantities such as the center of mass and zero‐moment point. [ 7 ]…”

Section: Recent Progress In Conventional Accessories For Quadrupedal ...mentioning

confidence: 99%

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Accessorizing Quadrupedal Robots with Wearable Electronics

Kim,

Belkadi,

Mayer

et al. 2024

Advanced Intelligent Systems

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Robots epitomize one of the most popular human imaginations that are evolving to become reality in the most pervasive way. Especially with the rise of artificial intelligence, it is more hopeful than ever that robots one day will be the interactive companions with some degree of emotion. A variety of robots in different forms with considerable mobility are available today. Among them, legged robots are the most attractive due to their dexterity, traversal versatility, functional modularity, and locomotive stability. Legged robots like robotic dogs can survey unchartered territories in uncertain environments. In this comprehensive review article, the status quo of this emerging and exciting field and how electronics of various form factors can functionalize them in an unbiased manner are surveyed and discussed. Different accessories currently available for quadrupedal robots, wearable devices potentially integratable with these robots, data management/integration strategies for reliable interfacing, and future outlook are discussed.

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Section: Implantsmentioning

confidence: 99%

Section: Recent Progress In Conventional Accessories For Quadrupedal ...mentioning

confidence: 99%

Accessorizing Quadrupedal Robots with Wearable Electronics

Kim,

Belkadi,

Mayer

et al. 2024

Advanced Intelligent Systems

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“…The desired body height and orientations depend on the quality of the visual information. If the terrain map acquired around the robot (with exteroceptive sensors like depth cameras) is accurate, the desired body height and roll/pitch orientations are provided by our Visual Pose Adaptation (VPA) (Fahmi et al, 2023). In case of unreliable terrain mapping, a desired relative body height is set and the body orientation follows the one estimated by the PTE.…”

Section: Locomotion Controllermentioning

confidence: 99%

VERO: A vacuum‐cleaner‐equipped quadruped robot for efficient litter removal

Amatucci,

Turrisi,

Bratta

et al. 2024

Journal of Field Robotics

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Litter nowadays presents a significant threat to the equilibrium of many ecosystems. An example is the sea, where litter coming from coasts and cities via gutters, streets, and waterways, releases toxic chemicals and microplastics during its decomposition. Litter removal is often carried out manually by humans, which inherently lowers the amount of waste that can be effectively collected from the environment. In this paper, we present a novel quadruped robot prototype that, thanks to its natural mobility, is able to collect cigarette butts (CBs) autonomously, the second most common undisposed waste worldwide, in terrains that are hard to reach for wheeled and tracked robots. The core of our approach is a convolutional neural network for litter detection, followed by a time‐optimal planner for reducing the time needed to collect all the target objects. Precise litter removal is then performed by a visual‐servoing procedure which drives the nozzle of a vacuum cleaner that is attached to one of the robot legs on top of the detected CB. As a result of this particular position of the nozzle, we are able to perform the collection task without even stopping the robot's motion, thus greatly increasing the time‐efficiency of the entire procedure. Extensive tests were conducted in six different outdoor scenarios to show the performance of our prototype and method. To the best knowledge of the authors, this is the first time that such a design and method was presented and successfully tested on a legged robot.

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“…In recent years, the exploration of increasingly unstructured environments has led to significant advancements in legged robotics [1][2][3][4], particularly large-scale legged robots driven by hydraulic systems, which demonstrate both carrying capacity and operational ability [5,6]. However, the elasticity-induced deformation of the legs in heavy-duty robots during motion [7] impacts the overall stability of the system and the tracking accuracy of the motion trajectory.…”

Section: Introductionmentioning

confidence: 99%

A Hierarchical Control Strategy for a Rigid–Flexible Coupled Hexapod Bio-Robot

Yang,

Liu,

Liu

et al. 2023

Biomimetics

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The motion process of legged robots contains not only rigid-body motion but also flexible motion with elastic deformation of the legs, especially for heavy loads. Hence, the characteristics of the flexible components and their interactions with the rigid components need to be considered. In this paper, a hierarchical control strategy for robots with rigid–flexible coupling characteristics is proposed. This strategy involves (1) leg force prediction based on real-time motion trajectories and feedforward compensation for the error caused by flexible components; (2) building upon the centroid dynamics model of the rigid-body chassis, the centroid trajectories (centroid angular momentum (CAM) and centroid linear momentum (CLM)) and the body trajectory are taken into account to derive the optimal drive torque for maintaining body stability; (3) finally, the precise force control of the hydraulic drive units is achieved through the sliding mode control algorithm, integrating the dynamic model of the flexible legs. The proposed methods are validated on a giant hexapod robot weighing 3.5 tons, demonstrating that the introduced approach can reduce the robot’s vibrations.

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ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots

Cited by 7 publications

References 58 publications

Accessorizing Quadrupedal Robots with Wearable Electronics

Accessorizing Quadrupedal Robots with Wearable Electronics

VERO: A vacuum‐cleaner‐equipped quadruped robot for efficient litter removal

A Hierarchical Control Strategy for a Rigid–Flexible Coupled Hexapod Bio-Robot

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