Event-based Agile Object Catching with a Quadrupedal Robot

Understand

Quadrupedal robots are conquering various indoor and outdoor applications due to their ability to navigate challenging uneven terrains.

• Exteroceptive information greatly enhances this capability since perceiving their surroundings allows them to adapt their controller and thus achieve higher levels of robustness.
• However, sensors such as LiDARs and RGB cameras do not provide sufficient information to quickly and precisely react in a highly dynamic environment since they suffer from a bandwidth-latency tradeoff.
• They require significant bandwidth at high frame rates while featuring significant perceptual latency at lower frame rates, thereby limiting their versatility on resource-constrained platforms.