Robotic Systems Lab: Legged Robotics at ETH Zürich
Robotic Systems Lab: Legged Robotics at ETH Zürich
  • Видео 256
  • Просмотров 3 367 766
AIRA Challenge: Teleoperated Mobile Manipulation for Industrial Inspection
The Robotic Systems Lab participated in the Advanced Industrial Robotic Applications (AIRA) Challenge at the ACHEMA 2024 process industry trade show, where teams demonstrated their teleoperated robotic solutions for industrial inspection tasks. We competed with the ALMA legged manipulator robot, teleoperated using a second robot arm in a leader-follower configuration, placing us in third place for the competition.
Просмотров: 2 066

Видео

SMUG Planner: A Safe Multi-Goal Planner for Mobile Robots in Challenging Environments
Просмотров 2,6 тыс.28 дней назад
Video created by Chen Changan Paper: arxiv.org/abs/2306.05309 Code: github.com/leggedrobotics/smug_planner Authors: Changan Chen, Jonas Frey, Philip Arm, Marco Hutter
Rethinking Robustness Assessment: Adversarial Attack on Learning-based Quadruped Locomotion Control
Просмотров 7 тыс.Месяц назад
In our RSS 2024 paper, we present a novel adversarial attack method designed to identify failuer cases in any type of locomotion controller, including state-of-the-art reinforcement learning (RL)-based controllers. Traditional heuristic tests, such as standard benchmarks or human experience, often fall short in uncovering these vulnerabilities. Our approach reveals the vulnerabilities of black-...
Learning Robust Autonomous Navigation and Locomotion for Wheeled-legged Robots
Просмотров 161 тыс.2 месяца назад
In our new Science Robotics paper, we introduce an autonomous navigation system developed for our wheeled-legged quadrupeds, designed for fast and efficient navigation within large urban environments. Driven by neural network policies, our simple, unified control system enables smooth gait transitions, smart navigation planning, and highly responsive obstacle avoidance in populated urban enviro...
ViPlanner: Visual Semantic Imperative Learning for Local Navigation (ICRA 2024)
Просмотров 5 тыс.2 месяца назад
This video demonstrates how our fully-learned local planner can navigate complex environments by recognizing different terrains and their traversability. Our paper introduces a novel planner design that combines depth and semantic information. It employs the imperative learning paradigm for optimizing the planner weights end-to-end based on the planning task objective. The optimization uses a d...
Lecture - Perception and Learning for Robotics - Best Practices ML-Project
Просмотров 4,8 тыс.3 месяца назад
by Jonas Frey jonasfrey96.github.io/ Course Description: asl.ethz.ch/education/lectures/perception_and_learning_for_robotics.html Outline: 00:00:00 - Introduction 00:03:05 - Project Planning 00:03:55 - Literature Review 00:08:02 - Python 00:09:40 - Package Management 00:19:20 - Installing CUDA/Torch 00:20:40 - ML Frameworks 00:21:58 - IDEs 00:24:00 - Debugging 00:26:22 - Reproducibility 00:29:1...
ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots
Просмотров 20 тыс.3 месяца назад
In this video, we demonstrate how our fully-learned method enables robots to conquer challenging scenarios reminiscent of parkour challenges. The paper introduces a hierarchical formulation that trains advanced locomotion skills for various obstacles, including walking, jumping, climbing, and crouching. A high-level policy is used to select and control these skills, allowing the robot to adapt ...
Learning Risk-Aware Locomotion (ICRA 2024)
Просмотров 2,9 тыс.3 месяца назад
Title: Learning Risk-Aware Quadrupedal Locomotion using Distributional Reinforcement Learning Authors: Lukas Schneider, Jonas Frey, Takahiro Miki, Marco Hutter Arxiv: arxiv.org/abs/2309.14246 Code: github.com/leggedrobotics/rsl_rl/tree/algorithms accepted for ICRA 2024
Learning to walk in confined spaces using 3D representation
Просмотров 11 тыс.3 месяца назад
Takahiro Miki, Joonho Lee, Lorenz Wellhausen and Marco Hutter This paper is accepted to ICRA2024. Arxiv: arxiv.org/abs/2403.00187 Project page: takahiromiki.com/publication-posts/learning-to-walk-in-confined-spaces-using-3d-representation/ 0:00 Introduction 0:20 Method overview 0:27 Low-level policy training 0:40 Low-level policy testing 1:16 High-level policy training 1:57 High-level policy di...
Pedipulate: Enabling Manipulation Skills using a Quadruped Robot's Leg
Просмотров 12 тыс.4 месяца назад
We present a learning-based control approach to enable manipulation skills with a quadruped robot's leg. The paper was accepted for publication at ICRA 2024. Project website: sites.google.com/leggedrobotics.com/pedipulate Paper: arxiv.org/abs/2402.10837 Authors: Philip Arm, Mayank Mittal, Hendrik Kolvenbach, Marco Hutter
X-ICP: Localizability-Aware LiDAR Registration for Robust Localization in Extreme Environments(Sup.)
Просмотров 2 тыс.5 месяцев назад
Submitted to IEEE Transactions on Robotics. X-ICP: Localizability-Aware LiDAR Registration for Robust Localization in Extreme Environments Turcan Tuna, Julian Nubert, Yoshua Nava, Shehryar Khattak, Marco Hutter Paper: arxiv.org/ Project Website: sites.google.com/leggedrobotics.com/x-icp Abstract: Modern robotic systems are required to operate in challenging environments, which entails reliable ...
ANYmal Unleashed: Revolutionizing Search-and-Rescue with Legged Robots (DTC: Deep Tracking Control)
Просмотров 4,9 тыс.5 месяцев назад
Explore the frontier of search-and-rescue capabilities of legged robots as ANYmal boldly steps into a disaster site training facility's challenging terrain. Uncover the immense potential of these robotic machines, offering a glimpse into the future of human-robot collaborations in critical and dangerous missions. Join us on this gripping journey where cutting-edge technology meets real-world ch...
DTC: Deep Tracking Control
Просмотров 14 тыс.5 месяцев назад
We have combined trajectory optimization and reinforcement learning to achieve versatile and robust perceptive legged locomotion. Published in Science Robotics: www.science.org/doi/10.1126/scirobotics.adh5401 arXiv: doi.org/10.48550/arXiv.2309.15462 Abstract: Legged locomotion is a complex control problem that requires both accuracy and robustness to cope with real-world challenges. Legged syst...
Santa vs. Lab Bullies: Festive Showdown at the RSL! 🎅🤖
Просмотров 2,6 тыс.6 месяцев назад
Santa vs. Lab Bullies: Festive Showdown at the RSL! 🎅🤖
A framework for robotic excavation and dry stone construction using on-site materials
Просмотров 8 тыс.7 месяцев назад
A framework for robotic excavation and dry stone construction using on-site materials
Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End
Просмотров 4 тыс.7 месяцев назад
Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End
Curiosity-Driven Learning of Joint Locomotion and Manipulation Tasks
Просмотров 49 тыс.7 месяцев назад
Curiosity-Driven Learning of Joint Locomotion and Manipulation Tasks
Bayesian multi-task learning MPC for robotic mobile manipulation - IROS 2023 presentation
Просмотров 1,3 тыс.8 месяцев назад
Bayesian multi-task learning MPC for robotic mobile manipulation - IROS 2023 presentation
Learning Contact-Based State Estimation for Assembly Tasks
Просмотров 2,4 тыс.8 месяцев назад
Learning Contact-Based State Estimation for Assembly Tasks
Demonstration of Telemanipulation during ARHCE 2023
Просмотров 2 тыс.9 месяцев назад
Demonstration of Telemanipulation during ARHCE 2023
ANYexo 2.0: A Fully Actuated Upper-Limb Exoskeleton - Presentation for IEEE CASE 2023
Просмотров 6 тыс.10 месяцев назад
ANYexo 2.0: A Fully Actuated Upper-Limb Exoskeleton - Presentation for IEEE CASE 2023
Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation
Просмотров 10 тыс.10 месяцев назад
Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation
iPlanner: Imperative Path Planning (RSS 2023)
Просмотров 6 тыс.10 месяцев назад
iPlanner: Imperative Path Planning (RSS 2023)
LSTP: Long Short-Term Motion Planning for Legged and Legged-Wheeled Systems
Просмотров 5 тыс.10 месяцев назад
LSTP: Long Short-Term Motion Planning for Legged and Legged-Wheeled Systems
Towards Legged Locomotion on Steep Planetary Terrain
Просмотров 3 тыс.10 месяцев назад
Towards Legged Locomotion on Steep Planetary Terrain
Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robots
Просмотров 10 тыс.11 месяцев назад
Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robots
A Helping Hand: Alma's Cybathlon Challenge
Просмотров 1,3 тыс.Год назад
A Helping Hand: Alma's Cybathlon Challenge
Human-Robot Attachment for Exoskeletons - Self-Adapting Attachment Mechanism
Просмотров 52 тыс.Год назад
Human-Robot Attachment for Exoskeletons - Self-Adapting Attachment Mechanism
Human-Robot Attachment - Representative Experiment Video: Self-Attachment
Просмотров 34 тыс.Год назад
Human-Robot Attachment - Representative Experiment Video: Self-Attachment
Bayesian Multi-Task Learning MPC for Robotic Mobile Manipulation
Просмотров 4,5 тыс.Год назад
Bayesian Multi-Task Learning MPC for Robotic Mobile Manipulation

Комментарии

  • @mainr7142
    @mainr7142 6 часов назад

    I listened with the sound off and I genuinely can't tell whether this is real or cgi. It moves kinda weird and unnatural, I think that's why. Not necessarily a bad thing if it does the job well - certainly the design and especially the software is very cool :)

  • @edgarhammond2252
    @edgarhammond2252 День назад

    You competed so well! Why third place?

  • @Hukkinen
    @Hukkinen День назад

    Tactile and force feedback information amount and accuracy needed for (near) human-like operation would be interesting to understand indeed 🙂

    • @tarwin
      @tarwin 11 часов назад

      Yeah I was wondering about adding whiskers ...

  • @about-R
    @about-R День назад

    👍👍👍👍👍👍👍

  • @scott_aero3915
    @scott_aero3915 День назад

    I wanna see teleoperated bots on rails running up and down space stations and mars transit ships!

    • @Danuxsy
      @Danuxsy День назад

      i want one of these at my job so i can sit at home instead Lol

  • @deeparajannamalai4252
    @deeparajannamalai4252 День назад

    Cool

  • @daniel_li
    @daniel_li 9 дней назад

    Is there any way to download pdf exercises ?

  • @fareli91
    @fareli91 17 дней назад

    I would envision in future where people will ride on this thing like a horse or bike, VERY COOL!!!

  • @erichahn6450
    @erichahn6450 19 дней назад

    So you have roller skating dog.....what else can it do?

  • @ecmswagger
    @ecmswagger 22 дня назад

    Would it help if it had a neck ?

  • @Pabkojdim
    @Pabkojdim 22 дня назад

    Wondered what that dog was saying

  • @pavolslab7831
    @pavolslab7831 23 дня назад

    I have seen the future of food delivery here, well done 👏 would love to work for you guys 😍

  • @RonLWilson
    @RonLWilson 26 дней назад

    There is another application for this in that it could be used for off-road vehicles to navigate over difficult terrain. This is a bit different tan say a robotaxi driving on a city street or open country rod where there is traffic and the vehicles are moving at high speed. But here in the off road environment traffic is not so much an issue or charging lanes and such but the off road vehicles are moving slowly and having to pick their way through rough terrain. BTW, I have a number of videos on my RUclips channel that give examples of use cases where one might need something like this tp have a bot drive a tank, truck, e-bike, or such off road.

  • @RonLWilson
    @RonLWilson 26 дней назад

    A variant of this could be to have a homolid robot ride an e-bike (or e-trike or e-unicycle or e scooter) and then dismount when and push the e-bike et al when needed then remount the bike and ride on. This then would extend this controller to humanoid robots where the wheels are not part of the bot but are separate. This allows legacy products that are already optimized to be efficient and already exist to serve the wheeled function and the two, the bot and the bike act as one just as the wheeled robot dog but with even more versatility. But the control is much the same the only addition being the AI to mount and dismount the e-bike and to be able to push it when walking. But even that is a plus in that it would be easir for the bot to maintain balance when walking when pushing a bike in that would give it more stability and make it less likely to fall. Thus imagaine a humaoid robot riding say a cargo e-bike and doing last mile deliveries where it rides along the street just as any cyclist would then gets off at its destination and leaves it package and then remount its cargo e-bike and moves to the next delivery. This is something a robot dog (even on wheels) would not be able to do.

  • @ecmswagger
    @ecmswagger 27 дней назад

    Too bad it doesnt have a neck you could save a lot of time with aa. Neck

  • @stephenmccagg
    @stephenmccagg Месяц назад

    Would a firearm be able to disable it?

  • @Thetitaniumsteppermotor
    @Thetitaniumsteppermotor Месяц назад

    I wonder how this would function with mechanim wheels on it aswell

  • @TheRealityWarper08
    @TheRealityWarper08 Месяц назад

    Great job! Can't wait to see it in action!

  • @user-cd6xk5iy5h
    @user-cd6xk5iy5h Месяц назад

    Really Impressive Work!

  • @arirahimzadeh
    @arirahimzadeh Месяц назад

    AHaaaaa !

  • @my_dear_friend_
    @my_dear_friend_ Месяц назад

    Looks smooth and ready for the roller rink! For promotional rather than practical purposes.

  • @MDNQ-ud1ty
    @MDNQ-ud1ty Месяц назад

    ñöÑÉ öf țнΙș ιȘ ğθΙÑĞ țΘ țΜЯñ öΜț шéll. αடட öF țн।S ш।lட ьé μȘ६d țÖ éÑșlΑv६ hμМдÑ।ㅜ४. ιț'S țhé él।țéș шhΘ hдvé μlțιмαț६ly fμñDéD αñD pμșНéd șΘç।६țy țö ьμιld șμCh țh।ñGS șΘ țh६y çαñ ьé μșéd föЯ шαЯrιñğ, çöñțröl, αñd éñșடαv६méñț öf öțh६Я hμмдñS șΘ țНéș६ éட।țéș çдñ plдy pНαrдöН öñCé mör६... αñD țh६ μSéfμட ιD।öㅜș шιடட ьμ।டD шhдㅜ६vér țН६y șαy.

  • @liangcherry
    @liangcherry Месяц назад

    Cool Work!

  • @tommyliao5508
    @tommyliao5508 Месяц назад

    Amazing work, ppl!

  • @AnnanTang
    @AnnanTang Месяц назад

    Super nice work!🎉

  • @monkeysfromvenus
    @monkeysfromvenus Месяц назад

    this is so cool

  • @Lightning---K.
    @Lightning---K. Месяц назад

    Fantastic, thanks to you guys it won´t be possible to kick robots so that they fall and smash on the ground ... wait let me rethink ... we will have less chances to destroy a robot with a malfunction on a killing mission ? Future A.I. is going to wipe us out ..one after another ... didn´t you guys learn from the Sci-Fi movies ? Mashines against humans ? Terminator , Matrix, I, Robot ? At least leave a vulnerable area on the robot ... We live in really interesting times !

    • @Atmatan_Kabbaher
      @Atmatan_Kabbaher Месяц назад

      You obviously didn't learn from them: the lesson wasn't not to make AI. It was to treat them like living things and give them place in society.

  • @minsikbuff
    @minsikbuff Месяц назад

  • @dter706
    @dter706 Месяц назад

    What are the benefits of the RL-based controller over say a robust MPC?

    • @user-es2zs4br2k
      @user-es2zs4br2k Месяц назад

      Handling model mismatch (e.g. unknown payload), nonlinearities, assumption violations (e.g. slippery), uncertainties (perception noises)

    • @broken_symmetry
      @broken_symmetry Месяц назад

      @@user-es2zs4br2k the robustness is NOT due to some magic in RL but due to the fact that via offline training the solution map of the robust MPC problem gets stored in the neural network, while traditional MPC solvers can not solve such complex problems online. To me, they’re just different methods to solve the same optimization problem.

  • @mccanlessdesign
    @mccanlessdesign Месяц назад

    Super, super work!

  • @evgeniypochyiko7682
    @evgeniypochyiko7682 Месяц назад

    Hello, how much does a set of this equipment cost per excavator?

  • @MoonchildTWXZG3000
    @MoonchildTWXZG3000 Месяц назад

    every day you know new artificial form of life automatized

  • @franklinwhitfield1893
    @franklinwhitfield1893 Месяц назад

    Looks promising, add a arm manipulator and you are almost gold.

  • @doxielain2231
    @doxielain2231 Месяц назад

    Tachikoma, version 1

  • @pchoice0
    @pchoice0 Месяц назад

    우와 충격적인 관절과 대응 타이어에 변화에 대한 허용범위와 대응 그리고 타이어는 바로 정교함에 여유를 주는 요소이고 관절대응은 정말 인간을 넘어서는 순발력이네요 연구진들 대단합니다.

  • @sylvanobenard6461
    @sylvanobenard6461 Месяц назад

    It reminds me of the wheelers from the movie return to OZ

  • @user-jc3nn8ud3p
    @user-jc3nn8ud3p Месяц назад

    Wow! AKIRA 炭団 has been realized

  • @josealdonate7347
    @josealdonate7347 Месяц назад

    Nice

  • @markobjelonic2225
    @markobjelonic2225 Месяц назад

    ❤❤❤

  • @GhaztVR
    @GhaztVR Месяц назад

    What app?

  • @Csinovnyik3000
    @Csinovnyik3000 Месяц назад

    Early tachikoma.

  • @dandcc9192
    @dandcc9192 Месяц назад

    I know what this is for. This is so that they can install a gun on that arm for shooting at targets, or, if the gun gets detached somehow, the robot will pick up a kitchen knife and stab the targets.

  • @Tech_Planet
    @Tech_Planet Месяц назад

    Easily the most advanced robotic dog platform!

  • @harold.one.feather
    @harold.one.feather Месяц назад

    They need to be strong enough to arm them with Panzerfaust and Tank Killer Rifles, first strike and fixed defensive positions are perfect for these killer robots

  • @edd2241
    @edd2241 Месяц назад

    Wow. Fantastic

  • @hhhnnn2205
    @hhhnnn2205 Месяц назад

    Safe guard your IPs or China will steal them soon.

    • @leggedrobotics
      @leggedrobotics Месяц назад

      Let’s all work together on a better future 🙌

  • @likekim9387
    @likekim9387 Месяц назад

    So how much is it? You can also put a saddle on it

  • @kennethattans5566
    @kennethattans5566 Месяц назад

    This is a game changer in autonomous navigation. Kudos to the team who made this possible.

  • @claudiabaran-konarska8409
    @claudiabaran-konarska8409 Месяц назад

    I love the idea. Pure leg-walking is so inefficient

  • @omnianti0
    @omnianti0 Месяц назад

    i guess usage of motorised wheels is a failure instead of using rotating ankle/wrist that will allow to induce rollerskate moves and many others climbing abilitys

    • @leggedrobotics
      @leggedrobotics Месяц назад

      We started with rollerskates and the performance of motors in the wheels allows for higher performance.

    • @omnianti0
      @omnianti0 Месяц назад

      @@leggedrobotics i meant the rollerskate move need a diferent ankle motor for pushing like a oar obivously the spped is limited