Header

UZH-Logo

Maintenance Infos

Event-based Agile Object Catching with a Quadrupedal Robot


Forrai, Benedek; Miki, Takahiro; Gehrig, Daniel; Hutter, Marco; Scaramuzza, Davide (2023). Event-based Agile Object Catching with a Quadrupedal Robot. In: 2023 IEEE International Conference on Robotics and Automation, ICRA 2023, London, United Kingdom of Great Britain and Northern Ireland, 29 May 2023 - 2 June 2023. Institute of Electrical and Electronics Engineers, 12177-12183.

Abstract

Quadrupedal robots are conquering various applications in indoor and outdoor environments due to their capability to navigate challenging uneven terrains. Exteroceptive information greatly enhances this capability since perceiving their surroundings allows them to adapt their controller and thus achieve higher levels of robustness. However, sensors such as LiDARs and RGB cameras do not provide sufficient information to quickly and precisely react in a highly dynamic environment since they suffer from a bandwidth-latency trade-off. They require significant bandwidth at high frame rates while featuring significant perceptual latency at lower frame rates, thereby limiting their versatility on resource constrained platforms. In this work, we tackle this problem by equipping our quadruped with an event camera, which does not suffer from this tradeoff due to its asynchronous and sparse operation. In leveraging the low latency of the events, we push the limits of quadruped agility and demonstrate high-speed ball catching for the first time. We show that our quadruped equipped with an event-camera can catch objects with speeds up to 15 m/s from 4 meters, with a success rate of 83%. Using a VGA event camera, our method runs at 100 Hz on an NVIDIA Jetson Orin.

Abstract

Quadrupedal robots are conquering various applications in indoor and outdoor environments due to their capability to navigate challenging uneven terrains. Exteroceptive information greatly enhances this capability since perceiving their surroundings allows them to adapt their controller and thus achieve higher levels of robustness. However, sensors such as LiDARs and RGB cameras do not provide sufficient information to quickly and precisely react in a highly dynamic environment since they suffer from a bandwidth-latency trade-off. They require significant bandwidth at high frame rates while featuring significant perceptual latency at lower frame rates, thereby limiting their versatility on resource constrained platforms. In this work, we tackle this problem by equipping our quadruped with an event camera, which does not suffer from this tradeoff due to its asynchronous and sparse operation. In leveraging the low latency of the events, we push the limits of quadruped agility and demonstrate high-speed ball catching for the first time. We show that our quadruped equipped with an event-camera can catch objects with speeds up to 15 m/s from 4 meters, with a success rate of 83%. Using a VGA event camera, our method runs at 100 Hz on an NVIDIA Jetson Orin.

Statistics

Citations

Dimensions.ai Metrics

Altmetrics

Downloads

5 downloads since deposited on 27 Feb 2024
5 downloads since 12 months
Detailed statistics

Additional indexing

Item Type:Conference or Workshop Item (Paper), refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Scopus Subject Areas:Physical Sciences > Software
Physical Sciences > Control and Systems Engineering
Physical Sciences > Electrical and Electronic Engineering
Physical Sciences > Artificial Intelligence
Scope:Discipline-based scholarship (basic research)
Language:English
Event End Date:2 June 2023
Deposited On:27 Feb 2024 16:06
Last Modified:28 Feb 2024 03:00
Publisher:Institute of Electrical and Electronics Engineers
Series Name:IEEE International Conference on Robotics and Automation. Proceedings
ISSN:1050-4729
ISBN:979-8-3503-2365-8
OA Status:Green
Publisher DOI:https://doi.org/10.1109/ICRA48891.2023.10161392
  • Content: Accepted Version
  • Language: English
  • Licence: Creative Commons: Attribution 4.0 International (CC BY 4.0)