3 accepted papers
Mobile robots build on accurate, real-time mapping with onboard range sensors to achieve autonomous navigation over rough terrain. Existing approaches often rely on absolute localization based on tracking of external geometric or visual features. To circumvent the reliability issues of these approac
Robots working in natural, urban, and industrial settings need to be able to navigate challenging environments. In this paper, we present a motion planner for the perceptive rough-terrain locomotion with quadrupedal robots. The planner finds safe footholds along with collision-free swing-leg motions…
This paper introduces ANYmal, a quadrupedal robot that features outstanding mobility and dynamic motion capability. Thanks to novel, compliant joint modules with integrated electronics, the 30 kg, 0.5 m tall robotic dog is torque controllable and very robust against impulsive loads during running or…