7 accepted papers
The autonomous transportation of materials over challenging terrain is a challenge with major economic implications and remains unsolved. This paper introduces LEVA, a high-payload, high-mobility robot designed for autonomous logistics across varied terrains, including those typical in agriculture,
Power consumption is a frequently over-looked aspect in robotics, especially in the context of legged robots. Nevertheless, improving the efficiency of walking robots is crucial to overcome the current limitations in runtime. This work proposes a novel method for precisely estimating actuator power
This letter introduces Barry, a dynamically balancing quadruped robot optimized for high payload capabilities and efficiency. It presents a new high-torque and low-inertia leg design, which includes custom-built high-efficiency actuators and transparent, sensorless transmissions. The robot's reinfor
Scientific exploration of planetary bodies is an activity well-suited for robots. Unfortunately, the regions that are richer in potential discoveries, such as impact craters, caves, and volcanic terraces, are hard to access with wheeled robots. Recent advances in legged-based approaches have shown t…
A robotic platform for mobile manipulation needs to satisfy two contradicting requirements for many real-world applications: A compact base is required to navigate through cluttered indoor environments, while the support needs to be large enough to prevent tumbling or tip over, especially during fas
The process of robot design is a complex task and the majority of design decisions are still based on human intuition or tedious manual tuning. A more informed way of facing this task is computational design methods where design parameters are concurrently optimized with corresponding controllers. E
Sensing of the terrain shape is crucial for legged robots deployed in the real world since the knowledge of the local terrain inclination at the contact points allows for an optimized force distribution that minimizes the risk of slipping. In this letter, we present a reactive locomotion strategy fo