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Thread: Miscellaneous

  1. #11


    Free gait software overview

    Published on Aug 11, 2017

    An Architecture for the Versatile Control of Legged Robots.

    github.com/leggedrobotics/free_gait

    Free Gait is a software framework for the versatile, robust, and task-oriented control of legged robots. The Free Gait interface defines a whole-body abstraction layer to accommodate a variety of task-space control commands such as end effector, joint, and base motions. The defined motion tasks are tracked with a feedback whole-body controller to ensure accurate and robust motion execution even under slip and external disturbances. The application of this framework includes intuitive tele-operation of the robot, efficient scripting of behaviors, and fully autonomous operation with motion and footstep planners.

    P. Fankhauser, D. Bellicoso, C. Gehring, R. Dubé, A. Gawel, M. Hutter, "Free Gait – An Architecture for the Versatile Control of Legged Robots", in IEEE-RAS International Conference on Humanoid Robots, 2016.

  2. #12


    Some legged robot at World Robotics Conference Beijing 2018.8.19

    Published on Aug 21, 2018

    Some legged robot at World Robotics Conference Beijing 2018.8.19.
    The black one is from unitree robotics four legged robot Laikago.

  3. #13


    Granular boots for bots

    May 26, 2020

    Roboticists at the University of California San Diego have developed flexible feet that can help robots walk up to 40 percent faster on uneven terrain, such as pebbles and wood chips. The work has applications for search-and-rescue missions as well as space exploration.
    "Robots Walk Faster With Newly Developed Flexible Feet"

    by Alex McFarland
    June 5, 2020

    Michael T. Tolley

    Emily Lathrop

    Nick Gravish

  4. #14


    Learning legged locomotion: ML as one tool in an engineered system

    Oct 23, 2020

    ML/RL methods are often viewed as a magical black box, and while that's not true, learned policies are nonetheless a valuable tool that can work in conjunction with the underlying physics of the robot. In this video, Agility CTO Jonathan Hurst - wearing his professor hat at Oregon State University - presents some recent student work on using learned policies as a control method for highly dynamic legged robots.

  5. #15


    Omni-Roach: A legged robot capable of traversing multiple types of large obstacles and self-righting

    Jan 11, 2022

    Supplementary video of our paper submitted to ICRA 2022: Omni-Roach: A legged robot capable of traversing multiple types of large obstacles and self-righting.

    Visit https://li.me.jhu.edu to learn more.
    Last edited by Airicist2; 3rd March 2022 at 06:38.

  6. #16


    [01] W. Merkel, 6th Workshop on Legged Robots ICRA'22

    Jun 4, 2022

    This talk was part of the 6th Workshop on Legged Robots.
    For more information, visit: leggedrobots.org

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