4 accepted papers
For effective operation in challenging outdoor environments, mobile unmanned robots face stiff and competing demands including payload capacity, driving speed, range, as well as the ability to traverse rough terrain. To address these issues we introduce the hybrid wheel-leg quadrupedal robot WaLTER.
The human world is full of risks that threaten failure of robotic tasks. Dynamic robots, such as agile drones and walking bipeds, are particularly susceptible to failure because their time to make critical decisions is short. This work seeks a control algorithm which adapts to failures and repriorit…
We want robots to complete assigned tasks even when unexpected task pressures arise, either from the robot or the environment. This paper presents a method of both learning sources of task failure in situ and rapidly planning new motions on-the-fly to accommodate them. This “risk-adaptive” approach…
Robots encounter many risks that threaten the success of practical locomotion tasks. Legs break, electrical components overheat, and feet can unexpectedly slip. When all risks cannot be completely avoided, how does a robot decide its best action? We present a method for planning robot motions by rea…