Vision-Based Software System for Indoor Quadrupedal Locomotion: Integrated with SLAM, Foothold Planning, and Multimodal Gait

This paper presents a software system designed for indoor quadrupedal locomotion using vision-based techniques. It incorporates established technologies such as Simultaneous Localization and Mapping (SLAM), global planning, and composite Center of Gravity (COG) trajectory planning methods to achieve both autonomous and semi-autonomous quadrupedal movement. The software solution offers a comprehensive approach to locomotion challenges, encompassing vision-based foothold planning and obstacle avoidance. With a modular architecture that supports diverse controller implementations, the software demonstrates its versatility. Overall, this research contributes a comprehensive software framework for indoor quadrupedal locomotion, exhibiting promising results in simulation and offering potential for real-world deployment.