Related papers: An Evolved Neural Controller for Bipdedal Walking …
We generalize the well-studied problem of gait learning in modular robots in two dimensions. Firstly, we address locomotion in a given target direction that goes beyond learning a typical undirected gait. Secondly, rather than studying one…
This paper investigates the development of high-performance racing controllers for a newly implemented racing mode within the Xpilot-AI platform, utilizing the Neuro Evolution of Augmenting Topologies (NEAT) algorithm. By leveraging NEAT's…
Bipedal running is a difficult task to realize in robots, since the trunk is underactuated and control is limited by intermittent ground contacts. Stabilizing the trunk becomes even more challenging if the terrain is uneven and causes…
Experimental demonstration of complex robotic behaviors relies heavily on finding the correct controller gains. This painstaking process is often completed by a domain expert, requiring deep knowledge of the relationship between parameter…
Learning how to walk is a sophisticated neurological task for most animals. In order to walk, the brain must synthesize multiple cortices, neural circuits, and diverse sensory inputs. Some animals, like humans, imitate surrounding…
Animal behavior reflects interactions between the nervous system, body, and environment. Therefore, biomechanics and environmental context must be considered to understand algorithms for behavioral control. Neuromechanical digital twins,…
Recent research shows that supervised learning can be an effective tool for designing near-optimal feedback controllers for high-dimensional nonlinear dynamic systems. But the behavior of neural network controllers is still not well…
Although bipedal locomotion provides the ability to traverse unstructured environments, it requires careful planning and control to safely walk across without falling. This poses an integrated challenge for the robot to perceive, plan, and…
Humans are able to negotiate downstep behaviors -- both planned and unplanned -- with remarkable agility and ease. The goal of this paper is to systematically study the translation of this human behavior to bipedal walking robots, even if…
We present a new walking foot-placement controller based on 3LP, a 3D model of bipedal walking that is composed of three pendulums to simulate falling, swing and torso dynamics. Taking advantage of linear equations and closed-form solutions…
Humanoid robots are well suited for human habitats due to their morphological similarity, but developing controllers for them is a challenging task that involves multiple sub-problems, such as control, planning and perception. In this…
This research considers the task of evolving the physical structure of a robot to enhance its performance in various environments, which is a significant problem in the field of Evolutionary Robotics. Inspired by the fields of evolutionary…
The popularity of mobile robots has been steadily growing, with these robots being increasingly utilized to execute tasks previously completed by human workers. For bipedal robots to see this same success, robust autonomous navigation…
We develop a novel computational framework to approximate solution operators of evolution partial differential equations (PDEs). By employing a general nonlinear reduced-order model, such as a deep neural network, to approximate the…
For humanoids to be deployed in demanding situations, such as search and rescue, highly intelligent decision making and proficient sensorimotor skill is expected. A promising solution is to leverage human prowess by interconnecting robot…
Hybrid systems theory has become a powerful approach for designing feedback controllers that achieve dynamically stable bipedal locomotion, both formally and in practice. This paper presents an analytical framework 1) to address…
Legged robots have achieved impressive feats in dynamic locomotion in challenging unstructured terrain. However, in entertainment applications, the design and control of these robots face additional challenges in appealing to human…
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…
A great advantage of legged robots is their ability to operate on particularly difficult and obstructed terrain, which demands dynamic, robust, and precise movements. The study of obstacle courses provides invaluable insights into the…
Walking controllers often require parametrization which must be tuned according to some cost function. To estimate these parameters, simulations can be performed which are cheap but do not fully represent reality. Real-robot experiments, on…