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KLILO: Kalman Filter based LiDAR-Inertial-Leg Odometry for Legged Robots
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2024 | Conference Paper |
This paper presents a Kalman filter based LiDAR-Inertial-Leg Odometry (KLILO) system for legged robots to navigate in challenging environments. In particular, we employ the iterated error-state extended Kalman filter framework on manifolds to fuse measurements from the inertial measurement unit (IMU), LiDAR, joint encoders, and contact force sensors in a tightly coupled manner. To assess the perfo...Show More
Agile and Safe Trajectory Planning for Quadruped Navigation with Motion Anisotropy Awareness
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2024 | Conference Paper |
Quadruped robots demonstrate robust and agile movements in various terrains; however, their navigation autonomy is still insufficient. One of the challenges is that the motion capabilities of the quadruped robot are anisotropic along different directions, which significantly affects the safety of quadruped robot navigation. This paper proposes a navigation framework that takes into account the mot...Show More
Optimal Prescribed-Time Control based Reactive Planning System for Quadruped Robot Navigation
2024 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2024 | Conference Paper |
In this paper, we propose a reactive planning system for quadruped robots based on prescribed-time control. The navigation of the quadruped robot is fundamentally depicted as omnidirectional movements, while a feedback control law is formulated to address any deviations the robot may encounter. In particular, our proposed feedback control system is theoretically proven to achieve convergence withi...Show More
Distributionally Robust Chance Constrained Trajectory Optimization for Mobile Robots within Uncertain Safe Corridor
Shaohang Xu;Haolin Ruan;Wentao Zhang;Yian Wang;Lijun Zhu;Chin Pang Ho
2024 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2024 | Conference Paper |
Safe corridor-based Trajectory Optimization (TO) presents an appealing approach for collision-free path planning of autonomous robots, because its convex formulation can guarantee global optimality. The safe corridor is constructed based on the obstacle map, however, the non-ideal perception induces uncertainty, which is rarely considered in the context of trajectory generation. In this paper, we ...Show More
Observer-based Distributed MPC for Collaborative Quadrotor-Quadruped Manipulation of a Cable-Towed Load
2024 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2024 | Conference Paper |
This paper presents a collaborative quadrotor-quadruped robot system for the manipulation of a cable-towed payload. In particular, we aim to solve the challenge from the unknown dynamics of the cable-towed payload. To this end, we first propose novel dynamic models for both the quadrotor and the quadruped robot, taking into account the nonlinear robot dynamics and the uncertainties associated with...Show More
Optimization-Based Flocking Control and MPC-Based Gait Synchronization Control for Multiple Quadruped Robots
In this letter, we focus on the flocking control and gait synchronization control of multiple quadruped robots to achieve the movement during patrol tasks. To achieve these goals, we propose an optimization-based distributed flocking controller and a model predictive control (MPC)-based gait synchronization controller. A constrained omnidirectional motion kinematic model is employed to simplify th...Show More
Distributed Model Predictive Formation Control with Gait Synchronization for Multiple Quadruped Robots
2023 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2023 | Conference Paper |
Cited by: Papers (3)
In this paper, we present a fully distributed framework for multiple quadruped robots in environments with obstacles. Our approach utilizes Model Predictive Control (MPC) and multi-robot consensus protocol to obtain the distributed control law. It ensures that all the robots are able to avoid obstacles, navigate to the desired positions, and meanwhile synchronize the gaits. In particular, via MPC ...Show More
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