5 papers · 1 filter
RoboAtlas: Contextual Active SLAM
Alexander Schperberg, Shivam K. Panda, Abraham P. Vinod +3
We present RoboAtlas, a contextual Active SLAM framework that adaptively balances geometric exploration and semantic reasoning using a scalable 3D semantic mapping system, OpenRobo…
MOBIUS: A Multi-Modal Bipedal Robot that can Walk, Crawl, Climb, and Roll
Alexander Schperberg, Yusuke Tanaka, Stefano Di Cairano +1
This paper presents the MOBIUS platform, a bipedal robot capable of walking, crawling, climbing, and rolling. MOBIUS features four limbs, two 6-DoF arms with two-finger grippers fo…
Safe Whole-Body Loco-Manipulation via Combined Model and Learning-based Control
Alexander Schperberg, Yeping Wang, Stefano Di Cairano
Simultaneous locomotion and manipulation enables robots to interact with their environment beyond the constraints of a fixed base. However, coordinating legged locomotion with arm…
SCALER: Versatile Multi-Limbed Robot for Free-Climbing in Extreme Terrains
Yusuke Tanaka, Yuki Shirai, Alexander Schperberg +2
This paper presents SCALER, a versatile free-climbing multi-limbed robot that is designed to achieve tightly coupled simultaneous locomotion and dexterous grasping. While existing…
OptiState: State Estimation of Legged Robots using Gated Networks with Transformer-based Vision and Kalman Filtering
Alexander Schperberg, Yusuke Tanaka, Saviz Mowlavi +3
State estimation for legged robots is challenging due to their highly dynamic motion and limitations imposed by sensor accuracy. By integrating Kalman filtering, optimization, and…