3 papers
cs.RO2025
Real-time Multi-Plane Segmentation Based on GPU Accelerated High-Resolution 3D Voxel Mapping for Legged Robot Locomotion
Shun Niijima, Ryoichi Tsuzaki, Noriaki Takasugi +1
This paper proposes a real-time multi-plane segmentation method based on GPU-accelerated high-resolution 3D voxel mapping for legged robot locomotion. Existing online planar mappin…
cs.RO2024
Extrinsic Calibration of Multiple LiDARs for a Mobile Robot based on Floor Plane And Object Segmentation
Shun Niijima, Atsushi Suzuki, Ryoichi Tsuzaki +1
Mobile robots equipped with multiple light detection and ranging (LiDARs) and capable of recognizing their surroundings are increasing due to the minitualization and cost reduction…
cs.RO2024
Real-time Perceptive Motion Control using Control Barrier Functions with Analytical Smoothing for Six-Wheeled-Telescopic-Legged Robot Tachyon 3
Noriaki Takasugi, Masaya Kinoshita, Yasuhisa Kamikawa +4
To achieve safe legged locomotion, it is important to generate motion in real-time considering various constraints in robots and environments. In this study, we propose a lightweig…