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 playlist of our recent research:
We’ve added a new webpage describing our research and involvement in the Cerberus team competing in the DARPA SubT Challenge which runs from 2018-2021. We are preparing multi-robot SLAM, exploration-based planning and testing our approach using our ANYmal C robot and a tracked robot made by our collaborator Ross Robotics.
Our project to precisely map New College has been featured on the college’s own website.
Three papers from the group will appear at IROS in October:
Recent experiments in an nearby underground mine as preparation for the DARPA SubT Challenge.
We carried out a trial on the High Speed 2 (London to Birmingham) construction site in London as part of the MEMMO EU Project.
We’ve had 6 papers accepted for ICRA/RA-L in Paris in May 2020. Topics range from efficient learning of locomotion, active mapping, SLAM, path planning, state estimation and trajectory optimisation. All of the papers have real world experiments with our ANYmal robot. Pre-prints of the papers are on our publications page. Here is a video sampler of all the papers:
Additionally, two new members of DRS have papers from their previous research groups:
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:
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.
Two papers from DRS will appear at ICRA this year:
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.
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.
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:
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:
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:
DRS have the following papers appearing in IROS 2017:
Pre-prints can be downloaded from the publications page.