Abstract: Perception is essential for legged locomotion as it enables robots to anticipate upcoming terrains and obstacles, facilitating adaptive traversal of challenging environments. Recent advancements in learning methodologies and legged locomotion have fostered research on the integration of perception into legged robot locomotion controllers, allowing them to operate … [Read more...] about Learning Perceptive Legged Robot Locomotion in the Real World: A Systematic Review
Collision avoidance
Int-Ball2: On-Orbit Demonstration of Autonomous Intravehicular Flight and Docking for Image Capturing and Recharging
This article presents the system architecture and the orbital demonstration results of the Int-Ball2, a free-flying camera robot developed by the Japan Aerospace Exploration Agency (JAXA). The purpose of the Int-Ball2 project is to assist astronauts and reduce their workload in the International Space Station (ISS). This robot is an upgrade from the first Int-Ball, enhancing … [Read more...] about Int-Ball2: On-Orbit Demonstration of Autonomous Intravehicular Flight and Docking for Image Capturing and Recharging
Enhancing Dexterity in Confined Spaces: Real-Time Motion Planning for Multifingered In-Hand Manipulation
Dexterous in-hand manipulation in robotics, particularly with multi-fingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers and the object being manipulated. Collision-free paths for all fingers must be generated in real-time, as the rapid changes in hand and finger positions necessitate instantaneous recalculations to … [Read more...] about Enhancing Dexterity in Confined Spaces: Real-Time Motion Planning for Multifingered In-Hand Manipulation
Tumbling Robot Control Using Reinforcement Learning: An Adaptive Control Policy That Transfers Well to the Real World
Tumbling robots are simple platforms that are able to traverse large obstacles relative to their size, at the cost of being difficult to control. Existing control methods apply only a subset of possible robot motions and make the assumption of flat terrain. Reinforcement learning (RL) allows for the development of sophisticated control schemes that can adapt to diverse … [Read more...] about Tumbling Robot Control Using Reinforcement Learning: An Adaptive Control Policy That Transfers Well to the Real World
A Cable-Driven Hyperredundant Manipulator: Obstacle-Avoidance Path Planning and Tension Optimization
Manipulators with a hyperredundant and large aspect ratio are becoming more commonly used to detect complex and narrow spaces. The hyperredundant feature confers advantages for such manipulator types in comparison to traditional manipulators. However, they also introduce path-planning challenges. Due to the characteristics of hyperredundancy, there are countless inverse … [Read more...] about A Cable-Driven Hyperredundant Manipulator: Obstacle-Avoidance Path Planning and Tension Optimization
