Whole body optimization applied to HyQ Centaur
Published on Jun 7, 2018
Fast and Continuous Foothold Adaptations for Legged Robots
Published on Oct 4, 2018
Vision-based foothold adaptions for reactive and dynamic locomotion implemented on our quadruped robot HyQ.
For more information:
Octavio Villarreal, Victor Barasuol, Marco Camurri, Michele Focchi, Luca Franceschi, Massimiliano Pontil, Darwin G. Caldwell, Claudio Semini, "Fast and Continuous Foothold Adaptation for Dynamic Locomotion through Convolutional Neural Networks", arXiv, 2018.
Passive whole-body control for quadruped robots
Published on Mar 22, 2019
Experimental results using a passive whole-body control approach for quadruped robots that achieves dynamic locomotion while compliantly balancing the robot’s trunk.
We validate the capabilities of this controller under various terrain
conditions and gaits. The proposed approach is superior for
accurate execution of highly dynamic motions with respect to
the current state of the art.
STANCE: Locomotion Adaptation over Soft Terrain
Published on May 2, 2019
STANCE: Locomotion Adaptation over Soft Terrain
Shamel Fahmi, Michele Focchi, Andreea Radulescu, Geoff Fink, Victor Barasuol and Claudio Semini
This is the teaser video of our recent work on locomotion over soft terrain.
We present STANCE which stands for Soft Terrain Adaptation and Compliance Estimation. STANCE is an online soft terrain adaptation algorithm that can adapt online to any type of terrain compliance (stiff or soft). STANCE allows HyQ to adapt its locomotion strategy depending on the type of terrain. As a result, HyQ was able to traverse and transition between multiple terrains with different compliance without pre-tuning.
HyQReal robot release: Walking robot pulls a plane (extended version)
Published on May 23, 2019
IIT's new quadruped robot HyQReal is demonstrating its strength by pulling a small passenger airplane (Piaggio P180 Avanti), 3300kg weight, 14.4m long, with a wingspan of 14m.
video production: ILLUSION videoproduzioni
special thanks to Piaggio Aerospace and Aeroporto di Genova.
Funding: Istituto Italiano di Tecnologia (IIT) and Moog Inc.
with additional funding from INAIL and ECHORD++.
thumbnail credit: V. Barasuol
HyQReal robot - highlights 2019
Jan 2, 2020
IIT's new HyQReal quadruped robot was released in May 2019. This highlight video shows previously unpublished footage of how we prepared the robot to pull a 3.3 ton airplane.
Additionally, it shows the robot walking over unstructured terrain and during public events in October 2019. Including a face-to-face with a dog.
Synopsis:
March 2019: First trot
April 2019: Standing up (onboard hydraulics)
April 2019: First pulling trials
April 2019: Pulling contest
May 2019: Pulling a 1.3 ton car (handbrake pulled)
May 2019: Pulling a 3.3 ton airplane at Genoa Airport
August 2019: INAIL project deliverables (4x)
October 2019: Maker Faire Roma
October 2019: INAIL workshop
December 2019: IIT- The future starts here
credits
Line walking and balancing for legged robots with point feet
Jul 3, 2020
The development of balance controllers for legged robots with point feet remains a challenge when they have to traverse extremely constrained environments.
We present a balance controller that has the potential to achieve line walking for quadruped robots. Our initial experiments show the 90-kg robot HyQ balancing on two feet and recovering from external pushes, as well as some changes in posture achieved without losing balance.
This work has been accepted to be presented at the IROS 2020 conference. For more information, please see our preprint at: http://arxiv.org/abs/2007.01087.
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