Issue link: https://htpgraphics.uberflip.com/i/1385717
LEAD RESEARCHER: MATHIEU GEISERT I have received an M.Eng. in Aerospace from ISAE- SUPAERO (Toulouse, France) and a Ph.D. in Robotics from INSA/LAAS-CNRS (Toulouse, France). Since 2018, I am a postdoctoral research assistant in the Dynamic Robot Systems group of the University of Oxford. My research focuses on the design of new control architectures (combining motion planning, control, optimisation, and machine learning) to enable robots to traverse difficult terrains such as the ones encountered after a nuclear disaster. More specifically, my research focuses on the control of legged robots on three-dimensional terrains using the terrain information provided by the onboard sensors. ROBUST MOBILITY ON UNEVEN TERRAIN 34 THE RESEARCH PRESENTED HERE HAS BEEN MAINLY DEVELOPED BY: OLIWIER MELON, SIDDHANT GANGAPURWALA, ROMEO ORSOLINO, DAVID SUROVIK, MATHIEU GEISERT, IOANNIS HAVOUTIS. SUMMARY // Wheeled robots have few moving parts which make them easy to build and control. They are very efficient in structured environments like stores or warehouses. However, their usage in other environments such as natural environments, building sites or disaster zones is still very limited since they can only locomote on quasi-flat terrains. Legged robots such as the one used in the University of Oxford (Anymal B, Anymal C and Vision 60) can surpass this limitation at the expense of a much more complex control architecture. While legged robots already show great successes on terrains such as stairs or stepping stones, their usage on more complex three-dimensional unstructured environments is yet to be demonstrated.