1.
Abstract
In this work, we present a robust autonomous navigation system for quadruped robots designed to operate effectively in challenging terrain conditions. Our system integrates LiDAR-based SLAM for localization and mapping, global path planning for route generation, path following control for accurate trajectory tracking, and locomotion control for stable quadruped gait execution. By combining these components into a unified framework, we enable the robot to perceive its environment, generate feasible paths, and traverse diverse terrains autonomously. The proposed system was successfully demonstrated in the Quadruped Robot Challenge (QRC), where it achieved first place, validating its effectiveness in real-world unstructured environments. The dataset and source code used in the competition are available at: https://www.snobotics.com
2.
papers
3.
Cite this article
Lee, J., Lee, H., Seo, D., Kim, J., Choi, Y., Park, G., Yang, J., Park, M., & Hwang, J. (2025, June). Snobotics Team Wins the Quadruped Robot Competition at ICROS 2025: Technical Overview and Lessons Learned. In Proceedings of the ICROS 2025 Conference, Jeonbuk National University, Korea.
4.
Youtube
5.
docker hub
(2025) Snobotics Team, ICROS 2025 4족보행 로봇 대회 우승 : 기술 개요 및 교훈
