Mobile Quadruped Robot Navigation

My internship at AlphaZ and Unitree Robotics to develop an indoor and outdoor mobile navigation system based on the Unitree B2 quadruped robot.

Videos

Dynamic Obstacle Avoidance

Climbing Stairs Autonomously

Key Achievements

The main achievements of this internship project include:

• Successfully implemented indoor and outdoor autonomous navigation for the quadruped robot from sensor calibration to upper route planning
  • Achieved state estimation(odometry) for 3D pose and base velocity in oscillating environments
  • Enhanced obstacle avoidance response speed while analyzing terrain passability
  • Achieved continuous patrolling at a speed of 0.6m/s for a battery cycle (3-4 hours), with a near 100% success rate for complete cycle patrols, excluding failures due to hardware issues
• Developed an intuitive user interface and network interface for easy operation and control
  • Deployed a WebUI for robot control
  • Integrated into a multi-robot intranet system, enabling remote video monitoring and remote takeover in a cellular environment