6th Workshop on Legged Robots
ICRA 2022, May 27, Philadelphia (PA), USA
Room 122 B

About

Welcome to the 6th edition of the Workshop on Legged Robots.
This workshop was held at ICRA 2022 in May 27.
The recorded talks can be found here.

Most of the environments surrounding us are rough, unstable, deformable and unstructured, which is dangerous and difficult for humans to access. In these environments, legged robots have inherent advantages in locomotion over their wheeled or tracked counterparts. The ability of legged robots to traverse different types of terrains and step over obstacles makes them uniquely suited to perform tasks in various scenarios. These scenarios include search and rescue missions, inspection in complex and cluttered environments, planetary exploration, agriculture, etc. Despite their capabilities, there still remain many challenges in making legged robots suitable for a widespread deployment in the real-world.

This workshop continues to investigate the technological ingredients that are missing for an effective widespread deployment of legged robots. Invited speakers from industry and academia will be featured alongside their robots, and papers highlighting problems and solutions in this domain will be solicited.

Topics of Interest:
    Control
    • Model Predictive Control (MPC)
    • Whole-Body Control (WBC)
    • Nonlinear Safety-Critical Control
    Learning
    • Reinforcement Learning for Locomotion
    • Learning for Perception and Mapping
    • Learning Dynamics and Control
    Design
    • Robotic Systems Design
    • Bio-Inspired Robotics
    • Novel Actuator Technologies
    Perception & Mapping
    • Sensor Fusion
    • State Estimation
    • SLAM in Static/Dynamic Environments
    Planning
    • Optimization-Based Planning
    • Vision-Based Planning
    • Terrain-Aware Locomotion
    • Collision Avoidance
    Real-World Applications
    • Disaster Response
    • Industrial Inspection
    • Payload Delivery
    • Robotic Assistive Devices

We do not support military applications and weapons systems for legged robots.


Invited Speakers

click on every speaker for the talk's title and abstract, and for the speaker's bio.

Academic Speakers


Wolfgang Merkt
University of Oxford, UK
Claudio Semini
IIT, Italy
Sangbae Kim
MIT, USA
Marco Hutter
ETH Zurich, Switzerland
Alex Li
University College London, UK
Serena Ivaldi
INRIA, France
Amir Patel
University of Cape Town, ZA


Industrial Speakers



Robin Deits
Boston Dynamics, USA
Jonathan Hurst
Agility Robotics, USA
Nicholas Paine
Apptronik, USA
Wang Xingxing
Unitree Robotics, China


DARPA SubTerrain Challenge



CEREBERUS
1st Place
CSIRO Data61
2nd Place
MARBLE
3rd Place
Timothy Chung
DARPA, USA


Robots



Digit

Agility Robotics

ANYMAL

Anybotics

ANYMAL with Wheels

Swiss-Mile

Go1

Unitree

B1

Unitree

Atalante

Wandercraft



Sponsors



Agility Robotics

Anybotics


Workshop Organizers


Shamel Fahmi

MIT,
USA

Dimitrios Kanoulas

UCL,
UK

Marko Bjelonic

ETH,
Switzerland

Navinda Kottege

CSIRO Data61,
Australia

Krzysztof Walas

Poznan University of Technology, Poland

This workshop is supported by the IEEE RAS Technical Committees on Whole-Body Control, Mechanism and Design, and Algorithms for Planning and Control of Robot Motion