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Thread: ANYmal, quadrupedal robot, Robotic Systems Lab, Institute of Robotics and Intelligent Systems, Zurich, Switzerland

  1. #41


    Autonomous Exploration of Subterranean Environments

    Published on Mar 26, 2019

    ANYmal, a quadrupedal robot developed by RSL (ETH Zurich) and ANYbotics, is deployed in subterranean environments. The legged robot explores an unknown area while creating a 3D representation of the surroundings.

    Credits:
    Marco Tranzatto, Fabian Tresoldi, Fabian Jenelten, Giorgio Valsecchi, Russell Buchanan, Marko Bjelonic, Jan Carius, Lorenz Wellhausen, Kai Holtmann, Marco Hutter.

  2. #42


    Trajectory optimization for wheeled-legged quadrupedal robots using linearized ZMP Constraints

    Published on Mar 28, 2019

    We present a trajectory optimizer for quadrupedal robots with actuated wheels. By solving for angular, vertical, and planar components of the base and feet trajectories in a cascaded fashion and by introducing a novel linear formulation of the zero-moment point (ZMP) balance criterion, we rely on quadratic programming only, thereby eliminating the need for nonlinear optimization routines. Yet, even for gaits containing full flight phases, we are able to generate trajectories for executing complex motions that involve simultaneous driving, walking, and turning. We verified our approach in simulations of the quadrupedal robot ANYmal equipped with wheels, where we are able to run the proposed trajectory optimizer at 50 Hz. To the best of our knowledge, this is the first time that such dynamic motions are demonstrated for wheeled-legged quadrupedal robots using an online motion planner.

    Paper accepted to IEEE Robotics and Automation Letters (RA-L) and IEEE International Conference on Robotics and Automation (ICRA) 2019 in Montreal, Canada:
    "Trajectory Optimization for Wheeled-Legged Quadrupedal Robots using Linearized ZMP Constraints"

    Authors: Yvain de Viragh, Marko Bjelonic, C. Dario Bellicoso, Fabian Jenelten, and Marco Hutter

  3. #43


    Dynamic locomotion on slippery ground

    Published on Jul 27, 2019

    Dynamic locomotion on unstructured and uneven terrain is a challenging task in legged robotics. Especially when it comes to slippery ground conditions, common state estimation and control algorithms suffer from the usual no-slip assumption. In fact, there has been only little research on this subject. This paper addresses the problem of slipping by treating slip detection and recovery tasks separately. Our contribution to the former is a probabilistic slip state estimator based on a Hidden Markov Model. In the second part of this paper, we propose impedance control and friction modulation as useful tools to recover stability during traction loss. We demonstrate the success of our estimation/control architecture by enabling ANYmal, a quadrupedal torque-controllable robot, to dynamically walk over slippery terrain.

    Paper accepted to IEEE Robotics and Automation Letters (RA-L) and IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019).

    Authors: Fabian Jenelten, Jemin Hwangbo, C. Dario Bellicoso, Fabian Tresoldi and Marco Hutter.

  4. #44


    ANYmal C legged robot – the next step in robotic industrial inspection

    Published on Aug 20, 2019

    ANYbotics, a pioneering Swiss robotics company, introduces a new generation of its autonomous legged robot. Named ANYmal C, this robot is optimized for industrial inspection tasks where it can provide high availability, safety, and reliability for automated routine inspections with a wide range of sensors.

    # Industrial Inspection with Mobile Robots

    Autonomous mobile robots will revolutionize industrial inspection. Executing pre-defined missions, autonomous systems can safely and reliably navigate through industrial plants and carry sensors to collect and interpret equipment and environment data.

    To navigate the complex infrastructure of industrial plants, ANYbotics introduces their next-generation autonomous legged robot ANYmal C. Built around the superior mobility of four legs, ANYmal C can move through industrial environments including steps and stairs without the need for any adaptations to a facility. Carrying a variety of sensors such as visual and thermal cameras, LIDAR, microphones, and gas detection sensors, ANYmal perceives and interprets a broad range of physical properties. The system evaluates instruments, checks for the status of objects, detects hotspots, and senses gases – even in situations that are threatening to human inspectors.

    # ANYmal C – The Next Step

    The ANYbotics team has been building legged robots for more than ten years and developed the new generation ANYmal C from the feet up based on industry requirements. At the core, powerful torque-controllable actuators have been designed to carry the robot over steep stairs and to reliably take the strain of over a million cycles. LIDAR and depth cameras provide a 360-degree high precision view of the robot’s environment. Teleoperation is simplified by integrated wide-angle cameras and an industrial-grade remote control. Intel i7 Hexa-core processors deliver the computation power for advanced locomotion control, real-time mapping, autonomous navigation, and for sophisticated on-board custom applications. These features are enclosed in a user-friendly, ruggedized, and fully water- and dustproof IP67 design. ANYmal C carries up to 10 kg in payload, and after two hours of operations on a single battery charge, the robot autonomously connects to a docking station for recharging.

    # Awaited by the Industry

    The energy, oil & gas, processing, and many other industries have been eagerly awaiting mobile robotic solutions to improve safety and efficiency in their operations. Due to their high complexity, industrial plants are difficult to operate without failures, and due to high downtime costs, plant operators are very keen to avoid interruptions. To prevent equipment from failing, plants need to be monitored and inspected regularly, and manual data collection by human inspectors is a tedious and error-prone task in a potentially dangerous environment. Even if parts of the equipment are sensorized, defects such as leakages, rust, hotspots, or missing equipment are challenging to detect. For this reason, autonomous mobile robots will fundamentally change the inspection strategy of operators and allow for optimized plant architectures in the future.

    # The Way Forward

    ANYmal C is a pioneering system ready to be tested on industrial sites. To explore the potential of autonomous robotic inspection, ANYbotic provides test installations and pilot projects worldwide to prepare for completely unsupervised installations in the future. ANYmal C is available for sale to development customers, engineering partners, and universities including a complete software and simulation environment. First ANYmal C robots will be ready for shipment before the end of the year.

  5. #45


    Rolling in the Deep – Hybrid locomotion for wheeled-legged robots

    Published on Sep 16, 2019

    Our quadrupedal robot ANYmal equipped with actuated wheels performs dynamic hybrid walking-driving motions.

  6. #46


    Roller-walking ANYmal live at Digital Day 2019

    Oct 10, 2019

    Roller-Walking ANYmal performing live on stage at Digital Day 2019 in Zurich.

  7. #47


    Feedback MPC for torque-controlled legged robots

    Nov 6, 2019

    Authors: Ruben Grandia, Farbod Farshidian, René Ranftl, Marco Hutter.
    PDF: https://arxiv.org/abs/1905.06144
    Abstract:
    The computational power of mobile robots is currently insufficient to achieve torque level whole-body Model Predictive Control (MPC) at the update rates required for complex dynamic systems such as legged robots. This problem is commonly circumvented by using a fast tracking controller to compensate for model errors between updates. In this work, we show that the feedback policy from a Differential Dynamic Programming (DDP) based MPC algorithm is a viable alternative to bridge the gap between the low MPC update rate and the actuation command rate. We propose to augment the DDP approach with a relaxed barrier function to address inequality constraints arising from the friction cone. A frequency-dependent cost function is used to reduce the sensitivity to high-frequency model errors and actuator bandwidth limits. We demonstrate that our approach can find stable locomotion policies for the torque-controlled quadruped, ANYmal, both in simulation and on hardware.

  8. #48


    Graph-based path planner: ANYmal quadruped robot exploring a bunker

    Feb 5, 2020

    In this video we present results on autonomous subterranean exploration inside an underground bunker using the ANYmal legged robot. ANYmal is utilizing the proposed Graph-based Exploration Path Planner which operates on the basis of the birfurcaton between a local and a global planning stage.

    In this field experiment, the local planner guides the robot through rooms and corridors of the underground bunker, while the global planner automatically derives and commands a collision-free return-to-home path at the end of the mission.

  9. #49


    ANYmal quadrupedal robot exploring Satsop Business Park

    Apr 9, 2020

    In this video we present results on autonomous subterranean exploration inside an unfinished nuclear power plant in Washington, USA, using the ANYmal quadrupedal robot.

    ANYmal was tasked with autonomously exploring an unknown environment surrounding the reactor, during an activity of the DARPA Subterranean Challenge - Urban Circuit.

    The presented work has been conducted in collaboration with the partners of team CERBERUS.

    Credits: Marco Tranzatto, Samuel Zimmermann, Marko Bjelonic, Lorenz Wellhausen, Timon Homberger, Fabian Jenelten, Markus Montenegro, Takahiro Miki, Joonho Lee, Giorgio Valsecchi, Jan Carius, Fabian Tresoldi, Marco Hutter.

  10. #50


    Trajectory optimization for wheeled-legged quadrupedal robots driving in challenging terrain

    Apr 29, 2020

    Wheeled-legged robots are an attractive solution for versatile locomotion in challenging terrain. They combine the speed and efficiency of wheels with the ability of legs to traverse challenging terrain. In this paper, we present a trajectory optimization formulation for wheeled-legged robots that optimizes over the base and wheels' positions and forces and takes into account the terrain information while computing the plans. This enables us to find optimal driving motions over challenging terrain. The robot is modeled as a single rigid-body, which allows us to plan complex motions and still keep a low computational complexity to solve the optimization quickly. The terrain map, together with the use of a stability constraint, allows the optimizer to generate feasible motions that cannot be discovered without taking the terrain information into account. The optimization is formulated as a Nonlinear Programming problem and the reference motions are tracked by a hierarchical whole-body controller that computes the torque actuation commands for the robot. The trajectories have been experimentally verified on quadrupedal robot ANYmal equipped with non-steerable torque-controlled wheels. Our trajectory optimization framework enables wheeled quadrupedal robots to drive over challenging terrain, e.g., steps, slopes, stairs, while negotiating these obstacles with dynamic motions.

    Full paper: "Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Driving in Challenging Terrain"

    Authors: Vivian S. Medeiros, Edo Jelavic, Marko Bjelonic, Roland Siegwart, Marco A. Meggiolaro and Marco Hutter

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