3 accepted papers
The light and soft characteristics of Buoyancy Assisted Lightweight Legged Unit (BALLU) robots have a great potential to provide intrinsically safe interactions in environments involving humans, unlike many heavy and rigid robots. However, their unique and sensitive dynamics impose challenges to obt…
Modern quadruped robots are more capable than ever before at performing robust, dynamic locomotion over a variety of terrains, but are still mostly used as mobile inspection platforms. This paper presents ALPHRED version 2, a multi-modal operations quadruped robot designed for both locomotion and ma
This paper presents a complete motion planning approach for quadruped locomotion across an unknown terrain using a framework based on mixed-integer convex optimization and visual feedback. Vision data is used to find convex polygons in the surrounding environment, which acts as potentially feasible…