Operations in hazardous environments put humans, animals, and machines at high risk for physically damaging consequences. In contrast to humans and animals, quadruped robots cannot naturally identify and adjust their locomotion to a severely debilitated limb. The ability to detect limb damage and adjust movement to a new physical morphology is the difference between survival and death for humans and animals. The same can be said for quadruped robots autonomously carrying out remote assignments in dynamic, complex settings. This work presents the development and implementation of an off-line learning-based method to detect single limb faults from proprioceptive sensor data in a quadrupedal robot. The aim of the fault detection technique is to provide the correct output for the controller to select the appropriate tripedal gait to use given the robot's current physical morphology.
A Three-Level Whole-Body Disturbance Rejection Control Framework for Dynamic Motions in Legged Robots
School of Artificial Intelligence and Automation, Huazhong University of Science and Technology（人工智能与自动化学院，华中科技大学）；State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology（智能制造装备与技术国家重点实验室，华中科技大学）
Remote telepresence over large distances via robot avatars: case studies
Artificial and Mechanical Intelligence AMI (Italian Insititute of Technology)（人工与机械智能AMI（意大利理工学院））；Frontier Robotics, Innovative Research Excellence（前沿机器人，创新研究卓越；本田研发）；Honda R&D（机器学习与优化，曼彻斯特大学）；Machine Learning and Optimisation, The University of Manchester
Mixture-of-Experts RL for Fault-Tolerant Legged Locomotion
Dynamic Legged Systems Laboratory, Istituto Italiano di Tecnologia (IIT), Genova, Italy（意大利技术研究院（IIT）动态腿足系统实验室，热那亚，意大利）；Dipartimento di Informatica, Bioingegneria, Robotica e Ingegneria dei Sistemi (DIBRIS), Universita di Genova, Genova, Italy（热那亚大学计算机科学、生物工程、机器人及系统工程系（DIBRIS），热那亚，意大利）
Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robots
ETH Zurich（苏黎世联邦理工学院）；Harbin Institute of Technology（哈尔滨工业大学）；University of Bern（伯尔尼大学）；University of Basel（巴塞尔大学）；University of Zurich（苏黎世大学）；Lucerne University of Applied Sciences and Art（卢塞恩应用科学与艺术大学）
A Vision-Based Shared-Control Teleoperation Scheme for Controlling the Robotic Arm of a Four-Legged Robot
Department of Mechanical Engineering, University of São Paulo（机械工程系，圣保罗大学）；Instituto Israelita de Ensino e Pesquisa Albert Einstein, Hospital Israelita Albert Einstein（艾利哈德研究所，以色列医院）
Passivity-based control for haptic teleoperation of a legged manipulator in presence of time-delays
Robotics System Lab (RSL), ETH Zurich（苏黎世联邦理工学院机器人系统实验室）；Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia (IIT)（意大利理工学院动态腿足系统实验室）；Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente（特文特大学电气工程、数学与计算机科学学院）
Learning robust perceptive locomotion for quadrupedal robots in the wild
Robotic Systems Lab, ETH Zurich（苏黎世联邦理工学院机器人系统实验室）；Robotics and Artificial Intelligence Lab, KAIST（韩国科学技术院机器人与人工智能实验室）；Intelligent Systems Lab, Intel（英特尔智能系统实验室）
Saving the Limping: Fault-tolerant Quadruped Locomotion via Reinforcement Learning
NVIDIA AI Technology Centre (NVAITC)（英伟达人工智能技术中心（NVAITC））；School of Computer Science and Engineering, Nanyang Technological University（南洋理工大学计算机科学与工程学院）；Coventry University（考文垂大学）；Mahindra University（马恒达大学）
Time-Division Multiplexing Actuation in Tendon-Driven Arms: Lightweight Design and Fault Tolerance
Shenzhen International Graduate School, Tsinghua University（清华大学深圳国际研究生院）；School of Mechanical and Aerospace Engineering, Nanyang Technological University（南洋理工大学机械与航空航天工程学院）；Department of Automation, Tsinghua University（清华大学自动化系）
