Perceptive Autonomous Stair Climbing for Quadrupedal Robots
Shuhao Qi,Wenchun Lin,Zejun Hong,Hua Chen,Wei Zhang,Shuhao Qi,Wenchun Lin,Zejun Hong,Hua Chen,Wei Zhang
This paper studies autonomous stair climbing for quadrupedal robots with perception. Enabling quadrupeds to reliably climb staircases greatly expands their applicability in practical scenarios. For this structured task, we develop a simple yet effective perception and control framework for autonomous quadrupedal stair climbing. By exploiting the structural knowledge about the staircases, the propo...
