The DOI matches its Crossref record; 4 of the 4 references it cites were found in a registry or an index.
Advances in real‐world applications for legged robots
Open accessAbstract
This paper provides insight into the application of the quadrupedal robot ANYmal in outdoor missions of industrial inspection (autonomous robot for gas and oil sites [ARGOS] challenge) and search and rescue (European Robotics League (ERL) Emergency Robots). In both competitions, the legged robot had to autonomously and semiautonomously navigate in real‐world scenarios to complete high‐level tasks such as inspection and payload delivery. In the ARGOS competition, ANYmal used a rotating light detection and ranging sensor to localize on the industrial site and map the terrain and obstacles around the robot. In the ERL competition, additional real‐time kinematic–global positioning system was used to colocalize the legged robot with respect to a micro aerial vehicle that creates maps from the aerial view. The high mobility of legged robots allows overcoming large obstacles, for example, steps and stairs, with statically and dynamically stable gaits. Moreover, the versatile machine can adapt its posture for inspection and payload delivery. The paper concludes with insight into the general learnings from the ARGOS and ERL challenges.
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Cites
Histograms of Oriented Gradients for Human Detection
Dalal, N., & Triggs, B. (2005) · 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) · doi:10.1109/cvpr.2005.177 · Cited by 33,584
Object recognition from local scale-invariant features
Lowe, D. G. (1999) · Proceedings of the Seventh IEEE International Conference on Computer Vision · doi:10.1109/iccv.1999.790410 · Cited by 16,472
ANYmal - a highly mobile and dynamic quadrupedal robot
Hutter, M., Gehring, C., Jud, D., Lauber, A., Bellicoso, C. D., Tsounis, V., Hwangbo, J., Bodie, K., Fankhauser, P., Bloesch, M., et al. (2016) · 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2016.7758092 · Cited by 969 · cited 3×
“This enables the generation of motion plans which keep the torso of the robot always parallel to the local estimation of the terrain, that is, this approach allows to blindly and robustly (Gehring et al., 2016) overcome challenging environments, for example, sloped terrain.”
BackgroundMethodSelf-citationMurphy, R. R., Tadokoro, S., Nardi, D., Jacoff, A., Fiorini, P., Choset, H., & Erkmen, A. M. (2008) · Springer Handbook of Robotics · doi:10.1007/978-3-540-30301-5_51 · Cited by 363
Cited by
The current state and future outlook of rescue robotics
Delmerico, J., Mintchev, S., Giusti, A., Gromov, B., Melo, K., Horvat, T., Cadena, C., Hutter, M., Ijspeert, A., Floreano, D., et al. (2019) · Journal of Field Robotics · doi:10.1002/rob.21887 · Cited by 371
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Metadata
- Authors
- Bellicoso, C. D., Bjelonic, M., Wellhausen, L., Holtmann, K., Günther, F., Tranzatto, M., Fankhauser, P., & Hutter, M.
- Venue
- Journal of Field Robotics
- Publisher
- Wiley
- Published
- 2018-11-06
- Volume
- 35
- Issue
- 8
- Pages
- 1311-1326
- ISSN
- 1556-4959 (ISSN-L)
- 1556-4967
- OpenAlex
- W2901522995
- Cited by
- 215
- References
- 4
- FWCI
- 4.72
- Type
- journal article
- Language
- en
- Open access
- green
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- Bellicoso, C. D., Bjelonic, M., Wellhausen, L., Holtmann, K., Günther, F., Tranzatto, M., Fankhauser, P., & Hutter, M. (2018). Advances in real‐world applications for legged robots. Journal of Field Robotics. https://doi.org/10.1002/rob.21839
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