@article{bellicoso2018advances,
  author    = {Bellicoso, Carmine D and
               Bjelonic, Marko and
               Wellhausen, Lorenz and
               Sako, Dhionis and
               Holtmann, Kai and
               Guenther, Fabian and
               Tranzatto, Marco and
               Fankhauser, P{\'e}ter and
               Hutter, Marco},
  title     = {Advances in Real-World Applications for Legged Robots},
  journal   = {Journal of Field Robotics},
  volume    = {35},
  number    = {8},
  pages     = {1311-1326},
  doi       = {10.1002/rob.21839},
  year      = {2018},
  abstract  = {This paper provides insight into the application of the
               quadrupedal robot ANYmal in outdoor missions of industrial
               inspection (ARGOS Challenge) and search and rescue (European
               Robotics League (ERL)  Emergency Robots). In both competitions,
               the legged robot had to autonomously and semi-autonomously
               navigate in real-world scenarios to complete high-level tasks
               such as inspection and payload delivery. In the ARGOS
               competition, ANYmal used a rotating LiDAR sensor to
               localize on the industrial site and map the terrain and obstacles
               around the robot. In the ERL competition, additional Real-Time
               Kinematic (RTK)-Global Positioning System (GPS) was used to
               co-localize the legged robot with respect to a Micro Aerial
               Vehicle (MAV) that creates maps from the aerial view. The high
               mobility of legged robots allows overcoming large obstacles, e.g.
               steps and stairs, with statically and dynamically stable gaits.
               Moreover, the versatile machine can adapt its posture for
               inspection and payload delivery. The paper concludes with insight
               into the general learnings from the ARGOS and ERL challenges.},
  keywords  = {legged robot, quadrupedal robot, localization, mapping,
               challenge},
  url_pdf   = {files/2018_jfr_bellicoso.pdf},
  url_video = {https://youtu.be/qrJlMze_xhQ},
  url_link  = {https://doi.org/10.1002/rob.21839}
}

{"_id":"vdL3ZXN3G6i25iejt","bibbaseid":"bellicoso-bjelonic-wellhausen-sako-holtmann-guenther-tranzatto-fankhauser-etal-advancesinrealworldapplicationsforleggedrobots-2018","downloads":3,"creationDate":"2018-10-15T11:03:56.325Z","title":"Advances in Real-World Applications for Legged Robots","author_short":["Bellicoso, C. D","Bjelonic, M.","Wellhausen, L.","Sako, D.","Holtmann, K.","Guenther, F.","Tranzatto, M.","Fankhauser, P.","Hutter, M."],"year":2018,"bibtype":"article","biburl":"https://www.markobjelonic.com//publications/bibliography.bib","bibdata":{"bibtype":"article","type":"article","author":[{"propositions":[],"lastnames":["Bellicoso"],"firstnames":["Carmine","D"],"suffixes":[]},{"propositions":[],"lastnames":["Bjelonic"],"firstnames":["Marko"],"suffixes":[]},{"propositions":[],"lastnames":["Wellhausen"],"firstnames":["Lorenz"],"suffixes":[]},{"propositions":[],"lastnames":["Sako"],"firstnames":["Dhionis"],"suffixes":[]},{"propositions":[],"lastnames":["Holtmann"],"firstnames":["Kai"],"suffixes":[]},{"propositions":[],"lastnames":["Guenther"],"firstnames":["Fabian"],"suffixes":[]},{"propositions":[],"lastnames":["Tranzatto"],"firstnames":["Marco"],"suffixes":[]},{"propositions":[],"lastnames":["Fankhauser"],"firstnames":["Péter"],"suffixes":[]},{"propositions":[],"lastnames":["Hutter"],"firstnames":["Marco"],"suffixes":[]}],"title":"Advances in Real-World Applications for Legged Robots","journal":"Journal of Field Robotics","volume":"35","number":"8","pages":"1311-1326","doi":"10.1002/rob.21839","year":"2018","abstract":"This paper provides insight into the application of the quadrupedal robot ANYmal in outdoor missions of industrial inspection (ARGOS Challenge) and search and rescue (European Robotics League (ERL) Emergency Robots). In both competitions, the legged robot had to autonomously and semi-autonomously navigate in real-world scenarios to complete high-level tasks such as inspection and payload delivery. In the ARGOS competition, ANYmal used a rotating LiDAR sensor to localize on the industrial site and map the terrain and obstacles around the robot. In the ERL competition, additional Real-Time Kinematic (RTK)-Global Positioning System (GPS) was used to co-localize the legged robot with respect to a Micro Aerial Vehicle (MAV) that creates maps from the aerial view. The high mobility of legged robots allows overcoming large obstacles, e.g. steps and stairs, with statically and dynamically stable gaits. Moreover, the versatile machine can adapt its posture for inspection and payload delivery. The paper concludes with insight into the general learnings from the ARGOS and ERL challenges.","keywords":"legged robot, quadrupedal robot, localization, mapping, challenge","url_pdf":"files/2018_jfr_bellicoso.pdf","url_video":"https://youtu.be/qrJlMze_xhQ","url_link":"https://doi.org/10.1002/rob.21839","bibtex":"@article{bellicoso2018advances,\n author = {Bellicoso, Carmine D and\n Bjelonic, Marko and\n Wellhausen, Lorenz and\n Sako, Dhionis and\n Holtmann, Kai and\n Guenther, Fabian and\n Tranzatto, Marco and\n Fankhauser, P{\\'e}ter and\n Hutter, Marco},\n title = {Advances in Real-World Applications for Legged Robots},\n journal = {Journal of Field Robotics},\n volume = {35},\n number = {8},\n pages = {1311-1326},\n doi = {10.1002/rob.21839},\n year = {2018},\n abstract = {This paper provides insight into the application of the\n quadrupedal robot ANYmal in outdoor missions of industrial\n inspection (ARGOS Challenge) and search and rescue (European\n Robotics League (ERL) Emergency Robots). In both competitions,\n the legged robot had to autonomously and semi-autonomously\n navigate in real-world scenarios to complete high-level tasks\n such as inspection and payload delivery. In the ARGOS\n competition, ANYmal used a rotating LiDAR sensor to\n localize on the industrial site and map the terrain and obstacles\n around the robot. In the ERL competition, additional Real-Time\n Kinematic (RTK)-Global Positioning System (GPS) was used to\n co-localize the legged robot with respect to a Micro Aerial\n Vehicle (MAV) that creates maps from the aerial view. The high\n mobility of legged robots allows overcoming large obstacles, e.g.\n steps and stairs, with statically and dynamically stable gaits.\n Moreover, the versatile machine can adapt its posture for\n inspection and payload delivery. The paper concludes with insight\n into the general learnings from the ARGOS and ERL challenges.},\n keywords = {legged robot, quadrupedal robot, localization, mapping,\n challenge},\n url_pdf = {files/2018_jfr_bellicoso.pdf},\n url_video = {https://youtu.be/qrJlMze_xhQ},\n url_link = {https://doi.org/10.1002/rob.21839}\n}\n\n","author_short":["Bellicoso, C. D","Bjelonic, M.","Wellhausen, L.","Sako, D.","Holtmann, K.","Guenther, F.","Tranzatto, M.","Fankhauser, P.","Hutter, M."],"key":"bellicoso2018advances","id":"bellicoso2018advances","bibbaseid":"bellicoso-bjelonic-wellhausen-sako-holtmann-guenther-tranzatto-fankhauser-etal-advancesinrealworldapplicationsforleggedrobots-2018","role":"author","urls":{" pdf":"https://www.markobjelonic.com//publications/files/2018_jfr_bellicoso.pdf"," video":"https://youtu.be/qrJlMze_xhQ"," link":"https://doi.org/10.1002/rob.21839"},"keyword":["legged robot","quadrupedal robot","localization","mapping","challenge"],"metadata":{"authorlinks":{"bjelonic, m":"https://www.markobjelonic.com/publications/","bellicoso, c":"https://dbellicoso.github.io/publications/"}},"downloads":2},"search_terms":["advances","real","world","applications","legged","robots","bellicoso","bjelonic","wellhausen","sako","holtmann","guenther","tranzatto","fankhauser","hutter"],"keywords":["legged robot","quadrupedal robot","localization","mapping","challenge"],"authorIDs":["2Q6kkGpL5s5GtfQhz","2bFC6YssfvNvQ5XTA","3S3JfgacEiDd4ocWx","3thpSWJWGLF2Js3r6","4juMdRomjjtRogjZu","5bc4741c8abdb610000002b2","5c6f390e13f17a10000001cb","5c9d490f85e3371000000161","5de97bc7768c31df01000155","5de9ba0f5b51bcde01000123","5dee3a4d0bde9edf010001b3","5deecdce66e59ade01000019","5df030665d7361de01000114","5df7e6b7dc100cde010001ca","5df8c226e6b510df01000120","5e02122d642c1cdf01000069","5e1511fc88b10dde010000a4","5e177886cf35a4de0100007b","5e23e506075528de01000037","5e26ffe09667abde0100011f","5e2aae6c8319d5de01000024","5e2f391678a7cedf010000d3","5e2f487a78a7cedf0100024e","5e30129c7e0df1de0100005a","5e3016827e0df1de01000096","5e337ffb7a676dee01000078","5e35a3bee5db93df010000aa","5e35d4c576dd53de010000a4","5e3786cd0aa992de01000003","5e385964ccda85de01000155","5e388a04030bcadf01000081","5e42f41aaefe1adf0100000e","5e4e7bff24a828df010001ba","5e4eab8964b624de0100012e","5e5fd7816b32b0f20100020f","5e653226ee6356df01000119","5e65ff0be26b7ade0100011d","5e660cf5fa8a45de010000d8","5e6ab2aff216f6de010001aa","75sDS2vwXg4oM6YcQ","8bYZ3EkFDEvcfC4SZ","8ym64XRycM4F3kFdP","9nf4JncmDPq8eSn3H","ANuzqb6Ad9fmCn4HF","C7Qz4k8zrnLkYqGmj","EJFXFgPyMQHmKSZxG","FBgted7TgztygQzo6","G2LG7To8qvSM97LiZ","J5MzYnbFSACyRYrjo","J65AocPvyKkJSu93J","NXQNRYBpf6dLfxKyv","TFFD5eJGYrWsvkaqR","TsoXd8mjSRajfrod5","WRnTy3dHNXiQe45Yw","ZDWgPYxALJbtaiZBY","aC8ynERizSi3vgxga","bdD9onbYMLft4iw9v","cGBXb29bQfPwYhZER","cHiuaLrSorh7Qngs6","ewYCo2znb3L2JndmA","fBkuAdfQKzMgTLwvy","gdSv6tFppyhTLe3CC","gkwoWq43qK8m6Kusf","hgkiNGga7Dw8AHrez","jrwNt4ai6J3veZ6fy","nEDN2eSyzXnGWXy9M","nnhdBG7JyBGfozdd7","pBmpWCNhaQWRgXFnC","q6AdDmCLeZnkFf7gP","qpCLsbgKQpQasFKYx","rCvdkrtaqpxpsfWyT","rGd9QHCpeQXLibDvL","s29kcP5RFGG8tME4i","sEqiwnrCyM5aG6jif","tAbtZDfxNz3hA7mMF","tTQmzcG4pctrpEMhd","wQpgfRgatF6ZP2QZ4","xCzAjQixdCJ9jHtqm","zn83nxdFSp8dDXcRo"],"dataSources":["SDvvW5t5q7zaELwe8","zxMAQW6E7NWHa4cSY"]}