3 accepted papers
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
In this paper, we propose an online path planning architecture that extends the model predictive control (MPC) formulation to consider future location uncertainties for safer navigation through cluttered environments. Our algorithm combines an object detection pipeline with a recurrent neural networ…
This paper presents a multi-functioning light weight robotic system, the Autonomous Legged Personal Helper Robot with Enhanced Dynamics (ALPHRED), capable of both locomotion and manipulation. In addition, we extended a 2D zero moment point (ZMP) trajectory optimization (TO) algorithm to a 3D impleme…