PACE fits a compact set of actuator parameters from brief in-air data and trains energy-aware locomotion policies that transfer zero-shot to real quadrupeds without dynamics randomization.
LEVA: A high-mobility logistic vehicle with legged suspension
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abstract
The autonomous transportation of materials over challenging terrain is a challenge with major economic implications and remains unsolved. This paper introduces LEVA, a high-payload, high-mobility robot designed for autonomous logistics across varied terrains, including those typical in agriculture, construction, and search and rescue operations. LEVA uniquely integrates an advanced legged suspension system using parallel kinematics. It is capable of traversing stairs using a rl controller, has steerable wheels, and includes a specialized box pickup mechanism that enables autonomous payload loading as well as precise and reliable cargo transportation of up to 85 kg across uneven surfaces, steps and inclines while maintaining a cot of as low as 0.15. Through extensive experimental validation, LEVA demonstrates its off-road capabilities and reliability regarding payload loading and transport.
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cs.RO 1years
2025 1verdicts
CONDITIONAL 1representative citing papers
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Towards bridging the gap: Systematic sim-to-real transfer for diverse legged robots
PACE fits a compact set of actuator parameters from brief in-air data and trains energy-aware locomotion policies that transfer zero-shot to real quadrupeds without dynamics randomization.