Actively Mapping Industrial Structures In the context of robotics, active perceptual planning refers to exploration by a mobile robot equipped with sensors to conduct a survey of an object or environment of interest. It can be of assistance for the regular inspection and monitoring of remote or dangerous facilities such as offshore platforms. Active mapping [...]
Visual-Inertial-Kinematic Odometry for Legged Robots (VILENS) This blog post provides an overview of our recent ICRA 2020 paper Preintegrated Velocity Bias Estimation to Overcome Contact Nonlinearities in Legged Robot Odometry: [bibtex key="2020ICRA_wisth"] This is one paper in a series of works on state estimation described here. Introduction Many [...]
Email: paarth_at_robots.ox.ac.uk Paarth joined the ORI in 2020 and is supervised by Dr. Ioannis Havoutis. He is ultimately interested in developing techniques for robust locomotion and optimal control methods for locomotion. Previously, Paarth completed his undergraduate studies at the University of Michigan, and his master studies at the University of Southern [...]
Wolfgang joined ORI in February 2020 and works with Dr Ioannis Havoutis.
In late 2019, ORI acquired a second legged robot to join ANYmal, the primary platform for DRS over the last few years. Vision 60 is a rugged quadruped robot developed by Ghost Robotics, a spin-off of the University of Pennsylvania (UPenn) based in Philadelphia.
On Tuesday the 26th of November, Oxford Robotics Institute visited RACE to test out their ANYmal at the mobility benchmarking lanes. This is part of our RAIN collaboration to test the reliability of different mobile robots. The terrain course, consisting of three ‘lanes’, was first developed by NIST, the U.S's National Institute of Standards [...]
VILENS - Visual-Inertial Odometry for Legged Robots VILENS (Visual Inertial Legged Navigation System) is a factor-graph based odometry algorithm for legged robots that fuses leg odometry, vision, and IMU data. This algorithm was designed by David Wisth, Marco Camurri, and Maurice Fallon at the Oxford Robotics Institute (ORI). The papers describing this work are listed below. [...]
In a cold, wet week at the beginning of October, a team from Oxford Robotics Institute headed north to Blyth, near Newcastle, for the ORCA Hub demonstrations. A large warehouse, normally used for testing off-shore wind turbines, hosted teams from a number of different universities, all keen to demonstrate their advances in research in [...]
Russell joined ORI in 2019 and is supervised by Maurice Fallon.
Matias joined ORI in 2019 and is supervised by Maurice Fallon.