FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W2888398732> ?p ?o ?g. }

• W2888398732 abstract "Robotic technologies will continue to enter new applications in addition to automated manufacturing and logistics. Once mobile robots can also operate outside of today's special facilities, they have the potential to relieve us of dirty and dangerous labor in various areas. However, for this purpose, these machines will need to be able to navigate autonomously in complex natural, urban, and industrial settings. This thesis addresses the development of locomotion skills for legged robots in challenging environments. Our work focuses on perceptive locomotion where exteroceptive sensing of the surrounding is exploited to plan and control the robot’s motion. This enables quadrupedal robots to negotiate rough terrain through carefully selected contacts. In this work, we evaluate different sensing technologies and analyze their performance for local dense terrain mapping on a mobile robot. We include special conditions such as close range objects and the influence of ambient light as we find them in real-world applications. By modeling the error characteristics of the sensors, the robot can judge the quality of the resulting terrain reconstruction. As the robot moves, the surrounding is continuously mapped to capture new areas and update regions which have changed. We contribute with a mapping framework that models the terrain from a robot-centric perspective. To this end, we present a novel approach for the error propagation from the robot's state estimation to the representation of the map. This formulation allows for robust and high-rate local mapping that is independent of a global localization method. We introduce our approach to locomotion planning, which finds safe footholds along with collision-free swing-leg motions, leveraging the generated terrain map. A nonlinear optimization finds postures that respect kinematic and stability constraints. We experimentally verify this work with torque-controllable quadrupedal robots that autonomously traverse obstacles, such as rubble, steps, gaps, and stairs without prior knowledge of the scene or any additional equipment. The locomotion planner re-plans its motion at every step in real-time, to cope with disturbances and dynamic environments. For the control of the legged robot, we contribute architecturally to the versatile and task-oriented motion execution. This method enables the robust tracking of motion plans, even with significant mismatches between the models and reality. In addition to rough terrain locomotion, we demonstrate the integration of our method for applications, such as whole-body stair climbing, manipulation, jumping, docking, inspection, payload delivery, dancing, and more. Our approach is thoroughly validated with the quadrupedal robot ANYmal in realistic long-term missions for autonomous industrial inspection and search and rescue. Finally, we extend our work with the design and implementation of a collaborative navigation framework for ground and flying robots. The ground vehicle utilizes the data captured by the flying robot to navigate uncharted…" @default.
• W2888398732 created "2018-08-31" @default.
• W2888398732 creator A5037943398 @default.
• W2888398732 date "2018-01-01" @default.
• W2888398732 modified "2023-09-26" @default.
• W2888398732 title "Perceptive Locomotion for Legged Robots in Rough Terrain" @default.
• W2888398732 doi "https://doi.org/10.3929/ethz-b-000284254" @default.
• W2888398732 hasPublicationYear "2018" @default.
• W2888398732 type Work @default.
• W2888398732 sameAs 2888398732 @default.
• W2888398732 citedByCount "3" @default.
• W2888398732 countsByYear W28883987322020 @default.
• W2888398732 crossrefType "dissertation" @default.
• W2888398732 hasAuthorship W2888398732A5037943398 @default.
• W2888398732 hasConcept C107457646 @default.
• W2888398732 hasConcept C154945302 @default.
• W2888398732 hasConcept C161840515 @default.
• W2888398732 hasConcept C166957645 @default.
• W2888398732 hasConcept C17744445 @default.
• W2888398732 hasConcept C199539241 @default.
• W2888398732 hasConcept C19966478 @default.
• W2888398732 hasConcept C205649164 @default.
• W2888398732 hasConcept C2776359362 @default.
• W2888398732 hasConcept C2776505523 @default.
• W2888398732 hasConcept C31972630 @default.
• W2888398732 hasConcept C41008148 @default.
• W2888398732 hasConcept C44154836 @default.
• W2888398732 hasConcept C58640448 @default.
• W2888398732 hasConcept C79403827 @default.
• W2888398732 hasConcept C81074085 @default.
• W2888398732 hasConcept C90509273 @default.
• W2888398732 hasConcept C94625758 @default.
• W2888398732 hasConceptScore W2888398732C107457646 @default.
• W2888398732 hasConceptScore W2888398732C154945302 @default.
• W2888398732 hasConceptScore W2888398732C161840515 @default.
• W2888398732 hasConceptScore W2888398732C166957645 @default.
• W2888398732 hasConceptScore W2888398732C17744445 @default.
• W2888398732 hasConceptScore W2888398732C199539241 @default.
• W2888398732 hasConceptScore W2888398732C19966478 @default.
• W2888398732 hasConceptScore W2888398732C205649164 @default.
• W2888398732 hasConceptScore W2888398732C2776359362 @default.
• W2888398732 hasConceptScore W2888398732C2776505523 @default.
• W2888398732 hasConceptScore W2888398732C31972630 @default.
• W2888398732 hasConceptScore W2888398732C41008148 @default.
• W2888398732 hasConceptScore W2888398732C44154836 @default.
• W2888398732 hasConceptScore W2888398732C58640448 @default.
• W2888398732 hasConceptScore W2888398732C79403827 @default.
• W2888398732 hasConceptScore W2888398732C81074085 @default.
• W2888398732 hasConceptScore W2888398732C90509273 @default.
• W2888398732 hasConceptScore W2888398732C94625758 @default.
• W2888398732 hasLocation W28883987321 @default.
• W2888398732 hasOpenAccess W2888398732 @default.
• W2888398732 hasPrimaryLocation W28883987321 @default.
• W2888398732 hasRelatedWork W1845027167 @default.
• W2888398732 hasRelatedWork W1968125515 @default.
• W2888398732 hasRelatedWork W2023093568 @default.
• W2888398732 hasRelatedWork W2070615678 @default.
• W2888398732 hasRelatedWork W2101207292 @default.
• W2888398732 hasRelatedWork W2116423661 @default.
• W2888398732 hasRelatedWork W2120565015 @default.
• W2888398732 hasRelatedWork W2154871086 @default.
• W2888398732 hasRelatedWork W2159462134 @default.
• W2888398732 hasRelatedWork W2283629911 @default.
• W2888398732 hasRelatedWork W24018097 @default.
• W2888398732 hasRelatedWork W2529647363 @default.
• W2888398732 hasRelatedWork W2536431081 @default.
• W2888398732 hasRelatedWork W2783671884 @default.
• W2888398732 hasRelatedWork W3026393557 @default.
• W2888398732 hasRelatedWork W3027249399 @default.
• W2888398732 hasRelatedWork W3082185756 @default.
• W2888398732 hasRelatedWork W3130764402 @default.
• W2888398732 hasRelatedWork W3150232859 @default.
• W2888398732 hasRelatedWork W3087974658 @default.
• W2888398732 isParatext "false" @default.
• W2888398732 isRetracted "false" @default.
• W2888398732 magId "2888398732" @default.
• W2888398732 workType "dissertation" @default.