Path Planning and Motion Control of Robot Dog Through Rough Terrain Based on Vision Navigation.

This article delineates the enhancement of an autonomous navigation and obstacle avoidance system for a quadruped robot dog. Part one of this paper presents the integration of a sophisticated multi-level dynamic control framework, utilizing Model Predictive Control (MPC) and Whole-Body Control (WBC) from MIT Cheetah. The system employs an Intel RealSense D435i depth camera for depth vision-based navigation, which enables high-fidelity 3D environmental mapping and real-time path planning.

High-Precision 3D Reconstruction Study with Emphasis on Refractive Calibration of GelStereo-Type Sensors.

GelStereo sensing technology is capable of performing three-dimensional (3D) contact shape measurement under various contact structures such as bionic curved surfaces, which has promising advantages in the field of visuotactile sensing. However, due to multi-medium ray refraction in the imaging system, robust and high-precision tactile 3D reconstruction remains a challenging problem for GelStereo-type sensors with different structures. In this paper, we first propose a universal Refractive Stereo Ray Tracing (RSRT) model for GelStereo-type sensing systems to realize 3D reconstruction of the contact surface.