Robust Loco-Manipulation for Quadruped Robots with Arms — Main Demo
Автор: Henrique Ferrolho
Загружено: 2023-10-07
Просмотров: 1197
This video shows uninterrupted operation of ANYmal Bull. The robot performs the following tasks: turning a wheel, pulling a lever, pushing a gate, and pulling a rope to lift a bucket. The robot walks around and up the ramp teleoperated via a remote controller. However, the robot solves each of the manipulation tasks autonomously.
Additional notes: Perception is done with a Vicon motion capture system and with the readings of the robot joint states. The bucket weighs approximately 1.1 kg.
Timestamps:
00:00 Turning the wheel
00:20 Pulling the lever
00:38 Walking around the scaffolding
00:55 Walking up the first ramp
01:12 Opening the gate
01:30 Walking to the top level
01:57 Lifting the bucket
H. Ferrolho, V. Ivan, W. Merkt, I. Havoutis, S. Vijayakumar, "RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms," Autonomous Robots (AuRo), 2023.
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