ORI is starting a major new research direction into legged robots. Drs. Ioannis Havoutis and Maurice Fallon have recently joined as academic staff with research expertise in control, planning and state estimation on dynamic walking robots such as the IIT Hydraulic Quadruped and the Boston Dynamics Atlas.

Below are upcoming papers in this research field which will appear soon at the ICRA and RSS conferences. Ioannis and Maurice will also co-organise a workshop at ICRA in this area.

  • [PDF] S. Nobili, M. Camurri, V. Barasuol, M. Focchi, D. Caldwell, C. Semini, and M. Fallon, “Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots,” in Robotics: Science and Systems (RSS), Cambridge, MA, 2017.
    [Bibtex]

    @inproceedings{2017RSS_nobili,
    title = {Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots},
    author = {Simona Nobili and Marco Camurri and Victor Barasuol and Michele Focchi and Darwin Caldwell and Claudio Semini and Maurice Fallon},
    booktitle = {Robotics: Science and Systems (RSS)},
    year = 2017,
    month = aug,
    address = {Cambridge, MA},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2017RSS_nobili.pdf}
    }

  • [PDF] S. Nobili, R. Scona, M. Caravagna, and M. Fallon, “Overlap-based ICP Tuning for Robust Localization of a Humanoid Robot,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Singapore, 2017.
    [Bibtex]

    @inproceedings{2017ICRA_nobili,
    title = {Overlap-based {ICP} Tuning for Robust Localization of a Humanoid Robot},
    author = {Simona Nobili and Raluca Scona and Marco Caravagna and Maurice Fallon},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    year = 2017,
    address = {Singapore},
    month = may,
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2017ICRA_nobili.pdf}
    }

  • [PDF] C. Mastalli, M. Focchi, I. Havoutis, A. Radulescu, S. Calinon, J. Buchli, D. G. Caldwell, and C. Semini, “Trajectory and Foothold Optimization using Low-Dimensional Models for Rough Terrain Locomotion,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Singapore, 2017.
    [Bibtex]

    @ inproceedings{2017icra_mastalli,
    author = {Carlos Mastalli and Michelle Focchi and Ioannis Havoutis and Andreea Radulescu and Sylvain Calinon and Jonas Buchli and Darwin G. Caldwell and Claudio Semini},
    title = {Trajectory and Foothold Optimization using Low-Dimensional Models for Rough Terrain Locomotion},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    year = 2017,
    address = {Singapore},
    month = may,
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2017ICRA_mastalli.pdf}
    }

  • [PDF] A. Radulescu, I. Havoutis, D. G. Caldwell, and C. Semini, “Whole-body Trajectory Optimization for Non-periodic Dynamic Motions on Quadrupedal Systems,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Singapore, 2017.
    [Bibtex]

    @inproceedings{2017icra_radulescu,
    author = {Andreea Radulescu and Ioannis Havoutis and Darwin G. Caldwell and Claudio Semini},
    title = {Whole-body Trajectory Optimization for Non-periodic Dynamic Motions on Quadrupedal Systems},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    year = 2017,
    address = {Singapore},
    month = may,
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2017ICRA_radulescu.pdf}
    }