IET/UCL Robotics Lecture: Perception for Limbed Robot Locomotion and Manipulation in Complex Environments
Attaining animal-like locomotion and manipulation in uncertain environments with sparse foothold and handhold affordances is a largely open problem. New advancements in mechatronics and control have enabled robots with limbs to complete some impressive complex tasks, especially indoors. Moving outdoors, where reliable contacts with unstructured and uncertain environment surfaces are necessary, new perception and planning algorithms are required. This talk will focus on some of our latest perception results for rough terrain locomotion and object/tool manipulation, that were applied on five different robots: a small-size (RPBP), a half-size (COMAN), and three full-size (WALK-MAN, CENTAURO, and COMAN+) humanoids/animaloids, as well as some future directions on mobile manipulation.
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