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—Quadrupedal animals move through their environments with unmatched agility and grace. An important part of this is the ability to choose between different gaits in order to travel optimally at a certain speed or to robustly deal with unanticipated perturbations. In this paper, we present a control framework for a quadrupedal robot that is capable of(More)
—This paper introduces a state estimation framework for legged robots that allows estimating the full pose of the robot without making any assumptions about the geometrical structure of its environment. This is achieved by means of an Observability Constrained Extended Kalman Filter that fuses kinematic encoder data with on-board IMU measurements. By(More)
We present different approaches for accelerating the process of continuous collision detection for deformable triangle meshes. The main focus is upon the collision detection for simulated virtual clothing, especially for situations involving a high number of contact points between the triangle meshes, such as multi-layered garments. We show how the culling(More)
This paper addresses the local terrain mapping process for an autonomous robot. Building upon an onboard range measurement sensor and an existing robot pose estimation, we formulate a novel elevation mapping method from a robot-centric perspective. This formulation can explicitly handle drift of the robot pose estimation which occurs for many autonomous(More)
  • Marco Hutter, Christian Gehring, Michael Bloesch, Mark A Hoepflinger, C David, Remy +1 other
  • 2012
This paper introduces StarlETH, a compliant quadrupedal robot that is designed to study fast, efficient, and versatile locomotion. The platform is fully actuated with high compliant series elastic actuation, making the system torque controllable and at the same time well suited for highly dynamic maneuvers. We additionally emphasize key elements of a(More)
—This paper introduces the concept of hybrid operational space control, a method that unifies kinematic tracking of individual joints with an inverse dynamics task space controller for the remainder of the robot. The proposed control strategy allows for a hierarchical task decomposition while simultaneously regulating the inner forces between the contact(More)
— In this paper, we are presenting a method to estimate terrain properties (such as small-scale geometry or surface friction) to improve the assessment of stability and the guiding of foot placement of legged robots in rough terrain. Haptic feedback, expressed through joint motor currents and ground contact force measurements that arises when prescribing a(More)
Purpose – The purpose of this paper is to introduce the robotic quadrupedal platform ALoF that is designed to aid research on perception in legged locomotion. Design/methodology/approach – A well-balanced size and complexity of the robot results in a robust platform that is easy to handle, yet able to perform complex maneuvers as well as to carry(More)