Hayato Kato — accepted AI-conference papers

2022

SCALER: A Tough Versatile Quadruped Free-Climber Robot

Yusuke Tanaka, Yuki Shirai, Xuan Lin, Alexander Schperberg, Hayato Kato, Alexander Swerdlow +2

IROS 2022poster

This paper introduces SCALER, a quadrupedal robot that demonstrates climbing on bouldering walls, over-hangs, ceilings and trotting on the ground. SCALER is one of the first high-degrees of freedom four-limbed robots that can free-climb under the Earth's gravity and one of the most mechanically effi…

Cited by 37 Source ↗Scholar ↗

2022

Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots

Yuki Shirai, Xuan Lin, Alexander Schperberg, Yusuke Tanaka, Hayato Kato, Varit Vichathorn +1

IROS 2022poster

While motion planning of locomotion for legged robots has shown great success, motion planning for legged robots with dexterous multi-finger grasping is not mature yet. We present an efficient motion planning framework for simultaneously solving locomotion (e.g., centroidal dynamics), grasping (e.g.…

Cited by 31 Source ↗Scholar ↗