PrePARE: Predictive Proprioception for Agile Failure Event Detection in Robotic Exploration of Extreme Terrains
Sharmita Dey,David Fan,Robin Schmid,Anushri Dixit,Kyohei Otsu,Thomas Touma,Arndt F. Schilling,Ali-Akbar Agha-Mohammadi,Sharmita Dey,David Fan,Robin Schmid,Anushri Dixit,Kyohei Otsu,Thomas Touma,Arndt F. Schilling,Ali-Akbar Agha-Mohammadi
Legged robots can traverse a wide variety of terrains, some of which may be challenging for wheeled robots, such as stairs or highly uneven surfaces. However, quadruped robots face stability challenges on slippery surfaces. This can be resolved by adjusting the robot's locomotion by switching to more conservative and stable locomotion modes, such as crawl mode (where three feet are in contact with...