David Rytz — accepted AI-conference papers

2020

Bounded haptic teleoperation of a quadruped robot’s foot posture for sensing and manipulation

Guiyang Xin, Joshua Smith, David Rytz, Wouter Wolfslag, Hsiu-Chin Lin, Michael Mistry

ICRA 2020poster

This paper presents a control framework to teleoperate a quadruped robot's foot for operator-guided haptic exploration of the environment. Since one leg of a quadruped robot typically only has 3 actuated degrees of freedom (DoFs), the torso is employed to assist foot posture control via a hierarchic…

Cited by 16 Source ↗Scholar ↗

2017

The Multilegged Autonomous eXplorer (MAX)

Alberto Elfes, Ryan Steindl, Fletcher Talbot, Farid Kendoul, Pavan Sikka, Tom Lowe +7

ICRA 2017poster

To address the goal of locomotion in very complex and difficult terrains, the authors are developing a new class of Ultralight Legged Robots. This paper presents the Multilegged Autonomous eXplorer (MAX), an ultralight, six-legged robot for traversal and exploration of challenging indoor and outdoor…

Cited by 28 Source ↗Scholar ↗