3 accepted papers
Modern legged robot morphologies assign most of their actuated degrees of freedom (DoF's) to the limbs and designs continue to converge to twelve DoF quadrupeds with three actuators per leg and a rigid torso often modeled as a Single Rigid Body (SRB). This is in contrast to the animal kingdom, which…
Despite substantial evidence for the crucial role played by an active backbone or spine in animal locomotion, its adoption in legged robots remains limited because the added mechanical complexity and resulting dynamical challenges pose daunting obstacles to characterizing even a partial range of pot…
This letter presents a reactive planning system that enriches the topological representation of an environment with a tightly integrated semantic representation, achieved by incorporating and exploiting advances in deep perceptual learning and probabilistic semantic reasoning. Our architecture combi