This paper presents a framework for dynamic object catching using a quadruped robot's front legs while it stands on its rear legs. The system integrates computer vision, trajectory prediction, and leg control to enable the quadruped to visually detect, track, and successfully catch a thrown object using an onboard camera. Leveraging a fine-tuned YOLOv8 model for object detection and a regression-based trajectory prediction module, the quadruped adapts its front leg positions iteratively to anticipate and intercept the object. The catching maneuver involves identifying the optimal catching position, controlling the front legs with Cartesian PD control, and closing the legs together at the right moment. We propose and validate three different methods for selecting the optimal catching position: 1) intersecting the predicted trajectory with a vertical plane, 2) selecting the point on the predicted trajectory with the minimal distance to the center of the robot's legs in their nominal position, and 3) selecting the point on the predicted trajectory with the highest likelihood on a Gaussian Mixture Model (GMM) modelling the robot's reachable space. Experimental results demonstrate robust catching capabilities across various scenarios, with the GMM method achieving the best performance, leading to an 80% catching success rate. A video demonstration of the system in action can be found at https://youtu.be/sm7RdxRfIYg .
An Adaptive Control Algorithm for Quadruped Locomotion with Proprioceptive Linear Legs
Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS)（深圳人工智能与机器人研究院）；Georgia Institute of Technology（佐治亚理工学院）；Hong Kong University of Science and Technology（香港科技大学）；Southern University of Science and Technology (SUSTech)（南方科技大学）；Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））
Two-layer adaptive trajectory tracking controller for quadruped robots on slippery terrains
Institute of Computer Science, Foundation for Research and Technology–Hellas（希腊基础研究与技术基金会计算机科学研究所）；Hellenic Mediterranean University（希腊地中海大学）；University of Crete（克里特大学）
Dynamic Modeling and MPC for Locomotion of Tendon-Driven Soft Quadruped
Department of Electrical Engineering, IIT Gandhinagar（电子工程系，印度加尔各直辖区理工学院）；Department of Electronics and Computer Engineering, Sreenidhi Institute of Science and Technology（电子与计算机工程系，斯里尼迪学院科学与技术研究所）；Department of Mechanical Engineering, IIT Gandhinagar（机械工程系，印度加尔各直辖区理工学院）
KYON: Semi-Modular Wheel-Legged Quadruped With Agile Bimanual Capability
Humanoids and Human Centered Mechatronics, Fondazione Istituto Italiano di Tecnologia（人机一体化机械系统，意大利理工研究院）；Advanced Robotics Facility, Fondazione Istituto Italiano di Tecnologia（先进机器人设施，意大利理工研究院）
OIPP: Object-Adaptive Impact Point Predictor for Catching Diverse In-Flight Objects
Division of Information Science, Graduate School of Science and Technology, Nara Institute of Science and Technology (NAIST)（信息科学系，科技研究生学校，科学技术国立研究所（NAIST））
A Deployable Bio-inspired Compliant Leg Design for Enhanced Leaping in Quadruped Robots
Department of Mechatronics and Robotics, Xi’an Jiaotong-Liverpool University（机电一体化与机器人系，西安交通大学-利物浦大学）；Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign（机械科学与工程系，伊利诺伊大学厄巴纳-香槟分校）
Learning Visual Quadrupedal Loco-Manipulation from Demonstrations
Shanghai Qi Zhi Institute（上海期智研究院）；The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））；University of California, Berkeley（加州大学伯克利分校）；Tsinghua University（清华大学）
Energy-Efficient Quadruped Locomotion with Compliant Feet
Department of Mechanical Engineering, Indian Institute of Science（印度科学研究院机械工程系）；Robert Bosch Centre for Cyber Physical Systems, Indian Institute of Science（印度科学研究院网络物理系统研究中心）；School of Engineering and Applied Science, Ahmedabad University（阿亨布尔大学工程与应用科学学院）
Whole-Body Model-Predictive Control of Legged Robots with MuJoCo
Department Aeronautics and Astronautics, Massachusetts Institute of Technology（航空宇航与工程力学系，麻省理工学院）；Google DeepMind（谷歌DeepMind）；Department of Electrical and Computer Engineering, Carnegie Mellon University（电气与计算机工程系，卡内基梅隆大学）；Robotics Institute, Carnegie Mellon University（机器人研究所，卡内基梅隆大学）
Agile asymmetric multi-legged locomotion: contact planning via geometric mechanics and spin model duality
Department of Mechanical Engineering, Pennsylvania State University（宾夕法尼亚州立大学机械工程系）；MIT Improbable AI Lab, Maschusetts Institute of Technology（麻省理工学院Improbable AI实验室）；Department of Physics, Georgia Institute of Technology（佐治亚理工学院物理系）；Department of Physics, Tsinghua University（清华大学物理系）
Optimization-Based Control for Dynamic Legged Robots
University of Notre Dame（圣母大学）；University of Pennsylvania（宾夕法尼亚大学）；University of Waterloo（滑铁卢大学）；INRIA（法国国家信息与自动化研究所）；LAAS-CNRS（法国国家科学研究中心系统分析与架构实验室）；University of Trento（特伦托大学）
Dynamic Policy Learning for Legged Robot with Simplified Model Pretraining and Model-Homotopy-Inspired Transfer
Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST)（机械工程系，韩国科学技术院（KAIST））；School of Interactive Computing, Georgia Institute of Technology（交互计算学院，佐治亚理工学院）
