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We present an architecture for rough-terrain locomotion with quadrupedal robots. All sensing, state estimation, mapping, control, and planning runs in real-time onboard the robot. The method is implemented on the quadrupedal robot ANYmal and we present experiments of climbing stairs, steps, and slopes and show how the robot can adapt to changing and moving environments.
Péter Fankhauser, Marko Bjelonic, Miki Takahiro, Tanja Baumann, C. Dario Bellicoso, Christian Gehring, Marco Hutter
This work has been conducted as part of ANYmal Research, a community to advance legged robotics.