Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion
Amanda Bouman,Muhammad Fadhil Ginting,Nikhilesh Alatur,Matteo Palieri,David D. Fan,Thomas Touma,Torkom Pailevanian,Sung-Kyun Kim,Kyohei Otsu,Joel Burdick,Ali-akbar Agha-Mohammadi,Amanda Bouman,Muhammad Fadhil Ginting,Nikhilesh Alatur,Matteo Palieri,David D. Fan,Thomas Touma,Torkom Pailevanian,Sung-Kyun Kim,Kyohei Otsu,Joel Burdick,Ali-akbar Agha-Mohammadi
This paper serves as one of the first efforts to enable large-scale and long-duration autonomy using the Boston Dynamics Spot robot. Motivated by exploring extreme environments, particularly those involved in the DARPA Subterranean Challenge, this paper pushes the boundaries of the state-of-practice in enabling legged robotic systems to accomplish real-world complex missions in relevant scenarios....
