→ Frame description of a normal quadrapedal robot

Course Description (Possibly Changed)

Preliminaries for Quadrapedal Robot SLAM

• Forward Kinematics
• IMU Preintegration
  • Graph optimization based SLAM
  • Lie-Algebra
• Short tutorial for RPM SPOT
  • RPM SPOT

Quadrapedal Robot SLAM Paper Review

• Contact Factor (Hartley)
  • 2018 ICRA
• VILENS
  • 2022 TRO
• Online Kinematic Calibration for Legged Robots
  • 2022 RAL & IROS
• Cerberus (VILO)
  • 2023 ICRA

VILO Estimator for RPM SPOT

GitHub - ShuoYangRobotics/Cerberus

• Cerberus ⇒ Code and Data are public, but for the A1 robot
• Following the Custom Sensor Setup in VILO, we’ll modify the given VILO code into SPOT’s position estimator.
• Sensor system building & Data type translation would be needed…

담당조교: 정상우([email protected])