106 citations · 304 across the 16 of their papers we have counts for
15 papers · 1 filter
A Compliant Robotic Leg Based on Fibre Jamming
Lois Liow, James Brett, Josh Pinskier +4
Humans possess a remarkable ability to react to unpredictable perturbations through immediate mechanical responses, which harness the visco-elastic properties of muscles to maintai…
Collaborative Ground-Aerial Multi-Robot System for Disaster Response Missions with a Low-Cost Drone Add-On for Off-the-Shelf Drones
Shalutha Rajapakshe, Dilanka Wickramasinghe, Sahan Gurusinghe +6
In disaster-stricken environments, it's vital to assess the damage quickly, analyse the stability of the environment, and allocate resources to the most vulnerable areas where vict…
Heterogeneous robot teams with unified perception and autonomy: How Team CSIRO Data61 tied for the top score at the DARPA Subterranean Challenge
Navinda Kottege, Jason Williams, Brendan Tidd +27
The DARPA Subterranean Challenge was designed for competitors to develop and deploy teams of autonomous robots to explore difficult unknown underground environments. Categorised in…
Human-Robot Team Performance Compared to Full Robot Autonomy in 16 Real-World Search and Rescue Missions: Adaptation of the DARPA Subterranean Challenge
Nicole Robinson, Jason Williams, David Howard +6
Human operators in human-robot teams are commonly perceived to be critical for mission success. To explore the direct and perceived impact of operator input on task success and tea…
Present and Future of SLAM in Extreme Underground Environments
Kamak Ebadi, Lukas Bernreiter, Harel Biggie +28
This paper reports on the state of the art in underground SLAM by discussing different SLAM strategies and results across six teams that participated in the three-year-long SubT co…
Wildcat: Online Continuous-Time 3D Lidar-Inertial SLAM
Milad Ramezani, Kasra Khosoussi, Gavin Catt +5
We present Wildcat, a novel online 3D lidar-inertial SLAM system with exceptional versatility and robustness. At its core, Wildcat combines a robust real-time lidar-inertial odomet…
Heterogeneous Ground and Air Platforms, Homogeneous Sensing: Team CSIRO Data61's Approach to the DARPA Subterranean Challenge
Nicolas Hudson, Fletcher Talbot, Mark Cox +31
Heterogeneous teams of robots, leveraging a balance between autonomy and human interaction, bring powerful capabilities to the problem of exploring dangerous, unstructured subterra…
Semi-supervised Gated Recurrent Neural Networks for Robotic Terrain Classification
Ahmadreza Ahmadi, Tønnes Nygaard, Navinda Kottege +2
Legged robots are popular candidates for missions in challenging terrains due to the wide variety of locomotion strategies they can employ. Terrain classification is a key enabling…
Autonomous Obstacle Legipulation with a Hexapod Robot
Bethany Lu, Benjamin Tam, Navinda Kottege
Legged robots traversing in confined environments could find their only path is blocked by obstacles. In circumstances where the obstacles are movable, a multilegged robot can mani…
Accessible Torque Bandwidth of a Series Elastic Actuator Considering the Thermodynamic Limitations
Bhanuka Silva, Navinda Kottege
Within the scope of the paper, electromechanical and thermodynamic models are derived for a series elastic actuator and open loop and closed loop torque bandwidth parameters are an…
Bruce -- Design and Development of a Dynamic Hexapod Robot
Ryan Steindl, Thomas Molnar, Fletcher Talbot +4
This paper introduces Bruce, the CSIRO Dynamic Hexapod Robot capable of autonomous, dynamic locomotion over difficult terrain. This robot is built around Apptronik linear series el…
Virtual Surfaces and Attitude Aware Planning and Behaviours for Negative Obstacle Navigation
Thomas Hines, Kazys Stepanas, Fletcher Talbot +5
This paper presents an autonomous navigation system for ground robots traversing aggressive unstructured terrain through a cohesive arrangement of mapping, deliberative planning an…
OpenSHC: A Versatile Multilegged Robot Controller
Benjamin Tam, Fletcher Talbot, Ryan Steindl +2
Multilegged robots have the ability to perform stable locomotion on relatively rough terrain. However, the complexity of legged robots over wheeled or tracked robots make them diff…
Walking Posture Adaptation for Legged Robot Navigation in Confined Spaces
Russell Buchanan, Tirthankar Bandyopadhyay, Marko Bjelonic +3
Legged robots have the ability to adapt their walking posture to navigate confined spaces due to their high degrees of freedom. However, this has not been exploited in most common…
Autonomous surveillance for biosecurity
Raja Jurdak, Alberto Elfes, Branislav Kusy +5
The global movement of people and goods has increased the risk of biosecurity threats and their potential to incur large economic, social, and environmental costs. Conventional man…