Event
RAIWAY Wheeled-Legged Robot Uses Contact-Information Blind Control to Traverse Obstacles
1 reports · 1 sources
A Korean team proposed the RAIWAY wheeled-legged bipedal robot and its accompanying control method: the robot is equipped with 20-inch wheels and can roll over irregular, discontinuous terrain. The method distills multiple contact events into a latent representation in simulation, and at deployment infers it online using only proprioception, without contact sensors. Real-world tests covered steep slopes, gravel, bumps, and rocky terrain, and included continuous ascent of outdoor stairs with step heights of up to 15 cm, outperforming a baseline without the contact-information mechanism. The work has been accepted by IEEE Robotics and Automation Letters (RA-L).
Report timeline
- RAIWAY: 20-inch large-wheel bipedal robot uses contact-informed blind locomotion control to traverse rugged terrain
A Korean team proposed the RAIWAY wheeled bipedal robot and a contact-informed control method. The robot is equipped with 20-inch wheels and can roll across irregular and discontinuous terrain. The method distills multi-contact events into a latent representation in simulation, and at deployment infers it online from proprioception alone, requiring no contact sensors. Real-world tests covered steep slopes, gravel, studded surfaces, and rocky terrain, and demonstrated continuous ascent on outdoor stairs with step heights up to 15 cm, outperforming baselines without the contact-informed mechanism.
arXiv cs.RO ·