mCLARI: A Shape-Morphing Insect-Scale Robot Capable of Omnidirectional Terrain-Adaptive Locomotion in Laterally Confined Spaces.
Heiko KabutzAlexander HedrickWilliam P. McDonnellKaushik JayaramPublished in: IROS (2023)
Keyphrases
- rough terrain
- mobile robot
- legged robots
- autonomous navigation
- quadruped robot
- robotic systems
- laser range sensor
- legged locomotion
- configuration space
- humanoid robot
- path planning
- visual odometry
- shape model
- robot moves
- vision system
- vision sensor
- three dimensional
- dynamic environments
- robot control
- multiple scales
- outdoor environments
- autonomous robots
- shape representation
- robot behavior
- image structure
- multiresolution
- human robot interaction
- motion planning
- mobile robotics
- shape recognition
- indoor environments
- multi robot
- shape matching
- stereo vision
- visual servoing
- shape analysis
- degrees of freedom
- scale space
- control system
- central pattern generator