ARGOS Training Day 1
Published on Mar 9, 2017
The finals of the ARGOS Challenge have started! We have moved our lab to the Total industrial facilities Lacq in France and took ANYmal for a run on the first training day.
ANYmal for Search & Rescue
Published on Nov 2, 2016
The legged robot ANYmal can support disaster relief teams with safer search and rescue operations. With its advanced locomotion capabilities, ANYmal can operate in rough outdoor environments, crawl through pipes, and access buildings over steps and stairs. With help of laser sensors and thermal cameras, the robot can be used to check the safety of buildings and search for potential victims.
ANYmal at ARGOS Finals – Highlights
Published on Apr 3, 2017
Watch some of the highlights of ANYmal at the ARGOS Challenge. ANYmal is a fully autonomous quadrupedal robot, capable of traversing on various terrain including steps, obstacles, stairs etc. Ruggedized and water-proof, ANYmal is well suited for applications in harsh environments such as offshore oil & gas platforms.
Dynamic locomotion and whole-body control for quadrupedal robots
Published on Jul 20, 2017
This paper presents a framework which allows a quadrupedal robot to execute dynamic gaits including trot, pace and dynamic lateral walk, as well as a smooth transition between them.
Our method relies on an online ZMP based motion planner which continuously updates the reference motion trajectory as a function of the contact schedule and the state of the robot. The planner is coupled with a hierarchical whole-body controller which optimizes the whole-body motion and contact forces by solving a cascade of prioritized tasks.
We tested our framework on ANYmal, a fully torque controllable quadrupedal robot which is actuated by series-elastic actuators.
ANYmal Demo at WPC 2017
Published on Aug 4, 2017
ANYmal demonstrated its abilities at the 2017 World Petroleum Congress in collaboration with Total. Fully autonomously, ANYmal inspected visual checkpoints and navigated through a parkour of steps, gaps, obstacles, and stairs.
Robust Rough-Terrain Locomotion with a Quadrupedal Robot (ANYmal)
Published on Sep 19, 2017
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.
ANYmal using an elevator
Published on Oct 29, 2017
This video shows ongoing research towards using the feet of a legged robot for simple manipulation tasks. In this example, ANYmal makes use of its large range of motion to reach up to press an elevator button. The button is localized with help of a QR tag.
Péter Fankhauser, Marko Bjelonic, Marco Hutter
Социальные закладки