5 accepted papers
When legged robots perform agile movements, traditional RGB cameras often produce blurred images, posing a challenge for rapid perception. Event cameras have emerged as a promising solution for capturing rapid perception and coping with challenging lighting conditions thanks to their low latency, hi
We introduce StaccaToe, a human-scale, electric motor-powered single-leg robot designed to rival the agility of human locomotion through two distinctive attributes: an actuated toe and a co-actuation configuration inspired by the human leg. Leveraging the foundational design of HyperLeg’s lower leg…
Our paper proposes a direct sparse visual odometry method that combines event and RGBD data to estimate the pose of agile-legged robots during dynamic locomotion and acrobatic behaviors. Event cameras offer high temporal resolution and dynamic range, which can eliminate the issue of blurred RGB imag…
Mapping and localization in non-static environments are fundamental problems in robotics. Most of previous methods mainly focus on static and highly dynamic objects in the environment, which may suffer from localization failure in semi-dynamic scenarios without considering objects with lower dynamic…
Reliable real-time extrinsic parameters of 3D Light Detection and Ranging (LiDAR) and camera are a key component of multi-modal perception systems. However, extrinsic transformation may drift gradually during operation, which can result in decreased accuracy of perception system. To solve this probl…