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  1. Methods for state estimation that rely on visual information are challenging on legged robots due to rapid changes in the viewing angle of onboard cameras. In this work, we show that by leveraging structure in the way that the robot locomotes, the accuracy of visual-inertial SLAM in these challenging scenarios can be increased. We present a method that takes advantage of the underlying periodic predictability often present in the motion of legged robots to improve the performance of the feature tracking module within a visual-inertial SLAM system. Our method performs multi-session SLAM on a single robot, where each session is responsible for mapping during a distinct portion of the robot’s gait cycle. Our method produces lower absolute trajectory error than several state-of-the-art methods for visual-inertial SLAM in both a simulated environment and on data collected on a quadrupedal robot executing dynamic gaits. On real-world bounding gaits, our median trajectory error was less than 35% of the error of the next best estimate provided by state-of-the-art methods. 
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  4. : Inspired by the locomotor nervous system of vertebrates, central pattern generator (CPG) models can be used to design gaits for articulated robots, such as crawling, swimming or legged robots. Incorporating sensory feedback for gait adaptation in these models can improve the locomotive performance of such robots in challenging terrain. However, many CPG models to date have been developed exclusively for open-loop gait generation for traversing level terrain. In this paper, we present a novel approach for incorporating inertial feedback into the CPG framework for the control of body posture during legged locomotion on steep, unstructured terrain. That is, we adapt the limit cycle of each leg of the robot with time to simultaneously produce locomotion and body posture control. We experimentally validate our approach on a hexapod robot, locomoting in a variety of steep, challenging terrains (grass, rocky slide, stairs). We show how our approach can be used to level the robot's body, allowing it to locomote at a relatively constant speed, even as terrain steepness and complexity prevents the use of an open-loop control strategy. 
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