Humanoid robot autonomous navigation and collision avoidance
Автор: Ji Zhang
Загружено: 2026-03-01
Просмотров: 4063
Описание:
Video shows our open-source autonomy stack deployed on the Unitree G1 humanoid robot for autonomous navigation. Challenges include high-speed walking, low obstacle avoidance, navigating cluttered and narrow spaces, and dynamic obstacle avoidance. Single perception sensor is the Mid-360 lidar that came with the G1. Navigation uses the built-in gait in "running - fast" and "running - slow" modes. Processing runs on a NUC computer attached to the back. The computer is powered by the G1's battery through a power regulator. Velocity commands are sent to the G1 through the Ethernet interface.
Open-source autonomy stack:
https://github.com/jizhang-cmu/autono...
Online tutorial:
https://tarerobotics.readthedocs.io
Note: G1 hardware is provided by Field AI to support the CMU MRSD program.
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