Dynamic Humanoid Locomotion Over Rough Terrain With Streamlined Perception-Control Pipeline
Moonyoung Lee,Youngsun Kwon,Sebin Lee,JongHun Choe,Junyong Park,Hyobin Jeong,Yujin Heo,Min-Su Kim,Jo Sungho,Sung-Eui Yoon,Jun-Ho Oh,Moonyoung Lee,Youngsun Kwon,Sebin Lee,JongHun Choe,Junyong Park,Hyobin Jeong,Yujin Heo,Min-Su Kim,Jo Sungho,Sung-Eui Yoon,Jun-Ho Oh
Vision aided dynamic exploration on bipedal robots poses an integrated challenge for perception and control. Rapid walking motions as well as the vibrations caused by the landing-foot contact-force introduce critical uncertainty in the visual-inertial system, which can cause the robot to misplace its feet placing on complex terrains and even fall over. In this paper, we present a streamlined integ...
