史上最全 2019 ICRA顶会四足机器人文献整理

一、ICRA论文集中相关文献对应subsession时间

15:15-16:30, Subsession TuCT1-14, 220

Legged Robots I - 2.3.14 Interactive
Session, 6 papers

15:15-16:30, Subsession TuCT1-25, 220

Legged Robots II - 2.3.25 Interactive
Session, 6 papers

09:40-10:55, Subsession WeAT1-14, 220

Legged Robots III - 3.1.14 Interactive
Session, 6 papers

11:30-12:45, Subsession WeBT1-14, 220

Legged Robots IV - 3.2.14 Interactive
Session, 6 papers

16:00-17:15, Subsession WeCT1-14, 220

Legged Robots V - 3.3.14 Interactive Session,
6 papers

二、文献整理内容

Legged Robots I

1.1 SpaceBok: A
Dynamic Legged Robot for Space Exploration（ETH Zurich）

Philip Arm, Radek Zenkl, Patrick

Barton, Lars Beglinger, Alex Dietsche,
Luca Ferrazzini, Elias Hampp, Jan

Hinder, Camille Huber, David Schaufelberger,
Felix Schmitt, Benjamin Sun, Boris

Stolz, Hendrik Kolvenbach and Marco Hutter

本文介绍了一种用于探测低重力天体的四足机器人spacebok。机器人的腿配置是基于一个优化的平行运动机制，允许整合平行弹性元件来储存和释放能量，以进行强有力的跳跃动作。高扭矩无刷电机与定制的单级行星齿轮变速器结合，可根据电机电流在各触点上进行强制控制。实验证明直接跳(pronk)被证明是低重力运动的有效解决方案。

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Robotic Systems Lab | ETH Zurich（https://rsl.ethz.ch/）：

[1]Marko Bjelonic, Lorenz Wellhausen,
Marco Hutter and Navinda Kottege，Walking Posture Adaptation for Legged Robot Navigation in
Confined Spaces，Russell Buchanan, Tirthankar
Bandyopadhyay, IEEE Robotics and Automation Letters, vol. 4: no. 2, pp.
2148-2155, Piscataway, NJ: IEEE, 2019.

[2]Hendrik Kolvenbach, Christian Bärtschi,
Lorenz Wellhausen, Ruben Grandia and Marco Hutter， Haptic Inspection of Planetary Soils with Legged Robots，IEEE Robotics and Automation Letters, vol. 4:
no. 2, pp. 1626-1632, New York, NY: IEEE, 2019

[3]Jemin Hwangbo, Joonho Lee, Alexey
Dosovitskiy, Carmine Dario Bellicoso, Vassilios Tsounis, Vladlen Koltun and
Marco Hutter，Learning agile and dynamic motor skills
for legged robots，Science Robotics,
vol. 4: no. 26, pp. eaau5872, Washington, DC: American Association for the
Advancement of Science (AAAS), 2019.

在模拟中训练神经网络策略并将其传输到最先进的腿系统的方法，从而利用快速、自动化和经济高效的数据生成方案。该方法被应用于Anymal机器人，一个复杂的中型狗大小的四足系统。使用模拟训练的策略，四足机器人实现了超越以往方法的运动技能：Anymal能够精确高效地执行高水平的身体速度指令，比以前更快地运行，并从摔倒中恢复。

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[4]Jan Carius, René Ranftl, Vladlen Koltun
and Marco Hutter，Trajectory Optimization for Legged Robots
with Slipping Motions，IEEE Robotics and
Automation Letters, Piscataway, NJ: IEEE, 2019.

[5]C. Dario Bellicoso, Marko Bjelonic,
Lorenz Wellhausen, Kai Holtmann, Fabian Günther, Marco Tranzatto, Peter
Fankhauser and Marco Hutter，Advances in
real-world applications for legged robots，Journal of Field Robotics, vol. 35: no. 8, pp. 1311-1326,
Hoboken, NJ: John Wiley & Sons, 2018

[6] C. Dario Bellicoso, Fabian Jenelten,
Christian Gehring and Marco Hutter，Dynamic locomotion through online nonlinear motion
optimization for quadrupedal robots，IEEE Robotics and Automation Letters, vol. 3: no. 3, pp.
2261-2268, Piscataway, NJ: IEEE, 2018.

[7]Michael Neunert, Markus Stäuble, Markus
Giftthaler, Carmine Dario Bellicoso, Jan Carius, Christian Gehring, Marco
Hutter and Jonas Buchli，Whole-Body
Nonlinear Model Predictive Control Through Contacts for Quadrupeds，IEEE Robotics and Automation Letters, vol. 3:
no. 3, pp. 1458-1465, New York, NY: IEEE, 2018.

[8]Marco Hutter, Christian Gehring,
Andreas Lauber, Fabian Gunther, Carmine D. Bellicoso, Vassilios Tsounis, Péter
Fankhauser, Remo Diethelm, Samuel Bachmann, Michael Blösch, Hendrik Kolvenbach,
Marko Bjelonic, Linus Isler and Konrad Meyer，ANYmal - toward legged robots for harsh environments，Advanced Robotics, vol. 31: no. 17, pp.
918-931, London: Taylor & Francis, 2017

[9] Jemin Hwangbo, Inkyu Sa, Roland
Siegwart and Marco Hutter，Control of a
quadrotor with reinforcement learning，IEEE Robotics and Automation Letters, vol. 2: no. 4, pp.
2096-2103, New York, NY: IEEE, 2017.

[10] Hendrik Kolvenbach, Giorgio
Valsecchi, Ruben Grandia, Antoni Ruiz, Fabian Jenelten and Marco Hutter，Tactile Inspection of Concrete Deterioration
in Sewers with Legged Robots，12th Conference on
Field and Service Robotics (FSR 2019), Tokyo, Japan, August 29-31, 2019.

[11] Vivian Medeiros S., Marko Bjelonic,
Edo Jelavic, Roland Siegwart, Marco Meggiolaro A. and Marco Hutter，Trajectory Optimization for Wheeled
Quadrupedal Robots Driving in Challenging Terrain，9th International Symposium on Adaptive Motion of Animals
and Machines (AMAM 2019), Lausanne, Switzerland, August 20-23, 2019.

[12] Timon Homberger, Lorenz Wellhausen,
Péter Fankhauser and Marco Hutter，Support Surface Estimation for Legged Robots，IEEE International Conference on Robotics and
Automation (ICRA), Montreal, Canada Zurich: ETH Zurich.

[13] Hendrik Kolvenbach, Dario Bellicoso,
Fabian Jenelten, Lorenz Wellhausen and Marco Hutter，Efficient Gait Selection for Quadrupedal
Robots on the Moon and Mars，14th International
Symposium on Artificial Intelligence, Robotics and Automation in Space
(i-SAIRAS 2018), Madrid, Spain Noordwijk: ESA Conference Bureau, June 4-6,
2018.

[14] Hendrik Kolvenbach, Manuel
Breitenstein, Christian Gehring and Marco Hutter，Scalability Analysis of Legged Robots for Space
Exploration，68th International Astronautical Congress
(IAC 2017), Adelaide, Australia, pp.10399-10413, Red Hook, NY: Curran,
September 25-29, 2017.

[15] Thomas Bi, Péter Fankhauser, Dario
Bellicoso and Marco Hutter，Real-Time Dance
Generation to Music for a Legged Robot，25th IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS), Madrid, Spain, pp.1038-1044, Piscataway, NJ: IEEE,
October 1-5, 2018.

[16]Marko Bjelonic, C. Dario Bellicoso, M.
Efe Tiryaki and Marco Hutter，Skating with a
Force Controlled Quadrupedal Robot，IEEE/RSJ International Conference on Intelligent Robots
and Systems (IROS 2018), Madrid, Spain, pp.7555-7561, Piscataway, NJ: IEEE,
October 1-5, 2018.

[17] Péter Fankhauser, Marko Bjelonic,
Dario Bellicoso, Takahiro Miki and Marco Hutter，Robust Rough-Terrain Locomotion with a Quadrupedal Robot，IEEE International Conference on Robotics and
Automation (ICRA 2018), Brisbane, Australia, pp.5761-5768, Piscataway, NJ:
IEEE, May 21-25, 2018.[18] Towards a Passive Adaptive Planar Foot with Ground
Orientation and Contact Force Sensing for Legged RobotsRoman Käslin, Hendrik
Kolvenbach, Laura Paez, Klajd Lika and Marco Hutter25th IEEE/RSJ International
Conference on Intelligent Robots and Systems (IROS), Madrid, Spain,
pp.2707-2714, Piscataway, NJ: IEEE, October 1-5, 2018.

[19] Foot-Eye Calibration of Legged Robot
KinematicsFabian Blöchliger, Michael Blösch, Péter Fankhauser, Marco Hutter and
Roland Siegwart19th International Conference on Climbing and Walking Robots
(CLAWAR 2016), London, England, pp.420-427, Singapore: World Scientific,
September 12-14, 2016.

1.2 Mini Cheetah:
A Platform for Pushing the Limits of Dynamic Quadruped Control(MIT Biomimetic
Robotics Lab)

Benjamin Katz1, Jared Di Carlo2 and Sangbae Kim1

一种新型的轻量化、低成本的四足机器人” 迷你猎豹”, 四足机器人的第一次基于离线轨迹优化的后空翻（backflips generated
by offline trajectory optimization,）用凸模型预测控制（CMPC）演示了机器人的动态快跑、快跑、跳跃和内旋步态，速度可达每秒2.45米。

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MIT Biomimetic Robotics Lab（http://biomimetics.mit.edu/）:

[1] Boussema, C., M. J. Powell, G. Bledt,
A. J. Ijspeert, P. M. Wensing, and S. Kim, “Gait Emergence and Disturbance
Recovery for Legged Robots via the Feasible Impulse Set”, IEEE Robotics
and Automation Letters, 2019 ,submitted

[2] Wensing, P. M., A. Wang, S. Seok, D.
Otten, J. Lang, and S. Kim, “Proprioceptive actuator design in the MIT
cheetah: Impact mitigation and high-bandwidth physical interaction for dynamic
legged robots”, IEEE Transactions on Robotics, 2017.

麻省理工学院猎豹腿的弹簧处理冲击，使得它能够在动态跳跃过程中控制接触力，接触时间低至85 ms，峰值力超过450 N。猎豹的独特能力，在高速三维跑动和跳跃中实现强大的冲击力控制操作。

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[3]Kim, S., and P. M. Wensing,
“Design of Dynamic Legged Robots”, Foundations and Trends® in
Robotics, vol. 5, pp. 117–190, 2017.

在陆地、海洋和空气中动物所表现出的非凡的运动能力的启发下，机器人工程师几十年来一直在努力在腿部机器中实现类似的动态运动能力。本文也利用了仿生学的一些思想，着重介绍了腿型机器人的机械设计，旨在为今后新机构的发展以及上述耦合问题提供参考。

[4]Park, H.-W., Wensing, P. M., & Kim,S. (2017). High-speed bounding with the MIT Cheetah 2: Control design and experiments. The International Journal of Robotics Research, 36(2), 167–192. https://doi.org/10.1177/0278364917694244

本文介绍了麻省理工学院猎豹2的边界控制器(bounding controller)的设计与实现及其实验结果。控制框架在硬件中提供稳定的边界，速度高达6.4 m/s，总运输成本最低为0.47。这些结果是无约束实验四足机在效率和速度方面前所未有的成就。

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[5] Hyun, D. J., Lee, J., Park, S., & Kim, S. (2016). Implementation of trot-to-gallop transition and subsequent gallop on the MIT Cheetah I. The International Journal of Robotics Research,
35(13), 1627–1650. https://doi.org/10.1177/0278364916640102

本文展示了机器人四足动物从小跑到疾驰的过渡和随后的稳定疾驰。麻省理工学院猎豹I是一个平面四足平台，用于高速运行，在跑步机上以3.2 m/s（弗劳德数为2.1）的速度完成这些任务。相位图表明，所提出的控制器在快跑和疾驰两种情况下都能实现稳定的极限环，从而使快跑能够在高速状态下转换为疾驰步态。

[6] Bledt, G., M. J. Powell, B. Katz, J. Di Carlo, P. M. Wensing, and S. Kim, “M