Last Update: 2023.12.28

This **Rules and Regulations** pertains to the Quadruped Robot Challenges in ICRA2024. This guideline intends to give the participating teams on how each team will be graded to determine the winning team in a manner that is fair to appreciate technologically innovative and well-implemented team’s efforts.

One of two lanes will be assigned to each team depending on the size of the robot; the inner lane is for small robots (height[1] equal or under 750mm) and the outer lane is for large robots (height over 750mm).

During the attempts, the operator must stay in the team’s remote control console, and only can use the sensor information obtained from the robot’s onboard sensors. No other information is allowed for provision to the remote operator.

1. Each team will be given 10 minutes and run the robot on the given track as many runs as possible during the given time. One complete run corresponds to X points.
2. Before each attempt, the team is allowed to turn on their ground computer (if there is one) or any other supporting ground equipment. The power of the robot can be applied prior to each attempt. (This is to accommodate different booting time of each team’s systems)
3. Each attempt is considered “completed” by successfully passing the finish line. If the robot deviates from the course, or malfunctions, is not able to sustain safe and controlled walking, or the team operator declares ending the attempt, this attempt is considered “not completed”.
4. If an attempt is not completed, the team must set the robot at the start-position for the re-trial.
5. If the team does not finish the whole race track, the final location where the robot reached is recorded. The final location is measured from the start line to the farthest point on the robot.
6. For grading teams who did not finish the whole course will be compared with the position where it reached. If two or more teams reached the same position, the team with fewer race attempts shall be given higher ranking.
7. The judging committee reserves the right to stop any team’s attempt if considered dangerous or not following the guidelines. Also the judging committee reserves the right to rule out any attempt’s record if any unfair activity is found (e.g. using sensors is not allowed, obtaining information not open to all teams, human intervention during the race and so on).

All the teams must share publicly all the sensory raw data (vision, lidar, motor control, etc.)  obtained during the practice and/or competition time.

[1] The height of the robot is measured from the ground to the highest position of the robot when the legs are fully extended.