Operating environments: Research stair setup without prior terrain knowledge
Control modes: Autonomous
Stair climbing - Research demonstration - 2023-12-30 - Climb 15 cm stairs without a prior terrain map and adapt when the stairs are moved. - environment: Research stair setup without prior terrain knowledge - Hardware: Base-mounted LiDAR; IMU and joint kinematics - Software: Local elevation map; LAAS-CNRS contact planner; MPC and inverse-dynamics torque controller; Onboard ROS architecture - Control: autonomous - Conditions: Previously unmapped 15 cm stairs; Re-plan after stairs are moved in the research demonstration - source: pal-robotics.com