Core Viewpoint - The article emphasizes the advancements and contributions of the Aerial Robotics Group (ARCLab) at Hong Kong University of Science and Technology (HKUST) in the fields of autonomous navigation, drone technology, sensor fusion, and 3D vision, highlighting their dual focus on academic influence and engineering implementation [2][3][23]. Summary by Sections Team and Leadership - The ARCLab is led by Professor Shen Shaojie, who has been instrumental in the development of intelligent driving technologies and has received numerous accolades for his research contributions [2][3]. Achievements and Recognition - The team has received multiple prestigious awards, including IEEE T-RO Best Paper Awards and IROS Best Student Paper Awards, showcasing their high academic impact and engineering capabilities [3][4]. Research Focus and Innovations - ARCLab's research focuses on five main areas: more stable state estimation and multi-source fusion, lightweight mapping and map alignment, reliable navigation in complex/extreme environments, comprehensive scene understanding and topology reasoning, and precise trajectory prediction and decision-making [23][24]. Productization and Engineering Execution - The lab emphasizes a product-oriented approach with strong engineering execution, addressing real-world challenges and prioritizing solutions that are reproducible, deployable, and scalable [3][4]. Talent Development - ARCLab has successfully nurtured a number of young scholars and technical leaders who are active in both academia and industry, contributing to the lab's sustained high output and influence [4]. Key Research Papers and Contributions - The article outlines several key research papers from 2025, focusing on advancements in state estimation, mapping, navigation, scene understanding, and trajectory prediction, all of which are aimed at enhancing the robustness and efficiency of autonomous systems [4][23]. Keywords for 2025 - The keywords for the year 2025 are stability, lightweight, practicality, universality, and interpretability, reflecting the lab's ongoing commitment to addressing real-world challenges in autonomous systems [24].

最上方点击蓝字"四足机器人研习社",右上方选"设为星标" 不错过好文推送,第一时间看干货文章 读书使人充实，讨论使人机智，笔记使人准确，读史使人明智，读诗使人灵秀，数学使人周密，科学使人深刻，伦理使人庄重，逻辑修辞使人善辩，凡 有所学，皆成性格。 ———— （英国）培根 本公众号的文章和资料和四足机器人相关，包括行业的经典教材、行业资料手册，同时会涉及到职业知识学习及思考、行业发展、学习方法等一些方面 的文章。 本文目录 |0.前言 开源的四足控制框架中，对于小型的四足，一般采用舵机进行驱动，运动学层次的控制就能满足需求，对于稍大的四足来说，为了提升机器人的响应速度和 稳定性，就需要考虑其动力学影响，进行力矩（电流环）层次的控制。 足式机器人属于欠驱动约束动力学系统，与传统机械臂存在明显的差异： 1）动力学模型具有6 自由度欠驱动浮动机身； 2）动力学模型受到时变广义约束（足-地不连续接触）**的影响。 这两大因素 导致其逆动力学求解为典型的欠驱动不适定问题，因而使得多刚体逆动力学在四足机器人力控领域的应用受到了严重的制约。 四足机器人具有 典型的浮动机身，且存在不连续足-地交互问题，因而导致四足机器人动力学 ...