Abstract
This article introduces XiaoTian, a quadrupedal robot with high mobility, dynamic motion skills, and autonomous ability. The robot uses backdriveable joint actuators with high force density, and robustness to impacts during trotting. Considering the specific application environment, we design the overall navigation and control framework of the robot, including the motion controlling, mapping, and planning methods. The experiment proved that XiaoTian can perform walking gaits, dynamically trot on the uneven ground and achieve autonomous exploration in the dark cave environments.
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Acknowlegment
This work was supported in part by the “Leading Goose” R&D Program of Zhejiang under Grant 2023C01177, in part by the Major Project of Science and Technology Innovation 2030—“New Generation Artificial Intelligence”—under Grant 2018AAA0102700, in part by the Artificial Intelligence Science and Technology Innovative Major Program of Hangzhou under Grant 2022AIZD0155, and in part by the National Natural Science Foundation of China under Grant U20B2054.
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Hu, Y. et al. (2023). A Navigation and Control Framework of Quadrupedal Robot for Autonomous Exploration in Cave Environments. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14272. Springer, Singapore. https://doi.org/10.1007/978-981-99-6480-2_4
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DOI: https://doi.org/10.1007/978-981-99-6480-2_4
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