Dynamic Robot Systems Group researches control, motion planning, mapping and navigation for dynamically moving robots. Our work has application to walking, flying and mobile robots. Here’s a recent overview of our walking robotics research:
We have created a project page for VILENS, our legged robot state estimator. It has been heavily tested on kilometres of logs from our ANYmal robot. More details here
Three papers about our quadruped research have recently been accepted at TAROS and IROS:
- Work led by Mathieu Geisert with LAAS to adapt the HPP footstep planner to work with ANYmal. Appearing at TAROS in July. The method can plan several steps ahead on complex terrains very quickly as well as choosing selecting the step sequence. Read the paper. Watch the video.
- A paper on tight Visual-Inertial Navigation (VINS) which also includes Leg Odometry by David Wisth and Marco Camurri. We call it VILENS. The work was heavily tested in real outdoor environments and appears at IROS in November. Read the paper. Watch the video.
- Quadrupeds have a variety of gaits (such as walking and trotting), some of which assume the world to be flat and others plan over rough terrain using elevation maps. Martim’s work (also at IROS) automatically chooses between gaits when given an input map. Read the paper.
We co-organized the workshop “Towards Real-World Deployment of Legged Robots” at ICRA. It was attended by over 200 people and included a demo of 5 rugged and highly mobile quadrupeds – including ANYmal. This demonstrates that quadruped robots are fast becoming a commercial reality with ANYbotics and Boston Dynamics holding industrial demos and trials.
We have an open Post Doc position in Visual Navigation and Teach and Repeat. More details are here:
- Deadline: 12.00 midday on Wednesday 8 May 2019.
Feel free to contact Dr. Maurice Fallon (firstname.lastname@example.org) with any informal queries.
Two papers from DRS will appear at ICRA this year:
- Georgi’s paper is about using deep learning in LIDAR localisation. An article on Georgi Tinchev’s paper can be read here.
- Christian’s paper is about passively estimating the state of a robot arm during manipulation.
- You can download the papers from here: https://ori.ox.ac.uk/labs/drs/drs-publications/
We hosted the AIMS PhD Programme’s 1st year class for a week long introduction to walking robots. David gave a demo of ANYmal’s capabilities and the winners took home some apt trophies 🙂
We had a successful field trial for the ORCA project. Over 50 researchers from Oxford, Edinburgh, Heriot-Watt, Liverpool Universities and Imperial College carried out trials. Our ANYmal was the focus of the day with a 45 minute demo of walking robot inspection. Read our overview article.
We tested autonomous navigation at recent field trials at the Fire Service College (a training centre for firefighters) for the EPSRC ORCA Robotics Hub.
Georgi Tinchev’s paper will appear at IROS next month “Seeing the Wood for the Trees: Reliable Localization in Urban and Natural Environments”. The paper involves localising in natural environments (forests) using LIDAR. The work adapts Segmatch from Renaud Dubé and Cesar Cadena.
Here’s a project page about the NSM algorithm.
Anymal, our awesome quadruped from Anybotics, has been delivered and we have been out in the local park testing it.
Phew! It’s been a busy couple of months in DRS. Both EU projects have kicked off. Each now has a website and twitter feed:
As part of the THING and MEMMO projects we have 3 post-doc positions available across the research areas of dynamic locomotion:
- Motion Planning and Control: planning dynamic motions in challenge environments. The MEMMO project is about pre-computing high dimensional trajectories to improve thereactivity of (model predicative) control. job advert
- Tactile Estimation and Active Control: The THING project is about improving everything tactile and haptic during quadruped walking & contact – materials, sensing, control, planning and estimation. job advert
- Reconstruction and Mapping: building efficient reliable navigation systems to demonstrate quadrupeds doing inspection – fusing inertial sensing and vision. job advert
Feel free to contact Maurice or Ioannis for more information. We are making a major investment in walking robots in ORI including purchasing a copy of Anymal – an awesome quadruped robot from the RSL Lab in ETH. We will have lab space a new building in late 2018. Oxford is a wonderful place to live and work, come join us!
DRS has had some great success with our ICRA submissions this year. The following 4 papers will be presented in Brisbane in May:
- M. J. A. Zeestraten, I. Havoutis, and S. Calinon, ‘Programming by Demonstration for Shared Control with an Application in Teleoperation’. (also appearing in the RA-L Journal). pdf
- S. Nobili, G. Tinchev, and M. Fallon, ‘Predicting Alignment Risk to Prevent Localization Failure’. pdf. video
- C. Rauch, T. Hospedales, J. Shotton, and M. Fallon, ‘Visual Articulated Tracking in the Presence of Occlusions’. pdf. video
- R. Scona, M. Jaimez, Y. R. Petillot, M. Fallon, and D. Cremers, ‘StaticFusion: Background Reconstruction for Dense RGB-D SLAM in Dynamic Environments’. pdf. video
These works involve collaborations with IIT and IDIAP, the Cremers lab in TUM, Jamie Shotton at Microsoft Hololens.
We are excited to say that two EU Projects in the area of walking robots have been funded and will begin in 2018:
- MEMMO will be led by Nicolas Mansard from LAAS (Toulouse). It will involve motion planning for dynamic legged robots. Partners include MPI (L. Rigetti), Edinburgh (S. Vijayakumar), IDIAP (S. Calinon) as well as PAL Robotics and Wandercraft.
- THING will be led by Michael Mistry from University of Edinburgh. THING will develop technology and algorithms in all areas of physical contact – such as contact sensing, navigation with contact sensors and better footstep placement. Developments will be centred around the state-of-the-art quadruped ANYmal developed by the Robot Systems Lab in ETH Zurich.
DRS have the following papers appearing in IROS 2017:
- M Zeestraten, I Havoutis, S Calinon and D Caldwell, “Learning Task-Space Synergies Using Riemannian Geometry”.
- R Scona, S Nobili, Y Petillot, M Fallon, “Direct Visual SLAM Fusing Proprioception for a Humanoid Robot”.
Pre-prints can be downloaded from the publications page.