Advances in real‐world applications for legged robots

• DOI: 10.1002/rob.21839
• Publication Date: 2018-11-06T18:10:57Z
• Authors: C. Dario Bellicoso; Marko Bjelonic; Lorenz Wellhausen; Kai Holtmann; Fabian Günther; Marco Tranzatto; Péter Fankhauser; Marco Hutter
• Keywords: Payload (computing); Search and rescue

Abstract This paper provides insight into the application of quadrupedal robot ANYmal in outdoor missions industrial inspection (autonomous for gas and oil sites [ARGOS] challenge) search rescue (European Robotics League (ERL) Emergency Robots). In both competitions, legged had to autonomously semiautonomously navigate real‐world scenarios complete high‐level tasks such as payload delivery. ARGOS competition, used a rotating light detection ranging sensor localize on site map terrain obstacles around robot. ERL additional real‐time kinematic–global positioning system was colocalize with respect micro aerial vehicle that creates maps from view. The high mobility robots allows overcoming large obstacles, example, steps stairs, statically dynamically stable gaits. Moreover, versatile machine can adapt its posture concludes general learnings challenges.