Related papers: Modeling and Analysis of Walking Pattern for a Bip…
Multi-legged robots with six or more legs are not in common use, despite designs with superior stability, maneuverability, and a low number of actuators being available for over 20 years. This may be in part due to the difficulty in…
This paper presents a gait controller for bipedal robots to achieve highly agile walking over various terrains given local slope and friction cone information. Without these considerations, untimely impacts can cause a robot to trip and…
In this paper, we will report our efforts in designing closed-loop feedback for the thruster-assisted walking of bipedal robots. We will assume for well-tuned supervisory controllers and will focus on fine-tuning the joints desired…
Walking animals, like stick insects, cockroaches or ants, demonstrate a fascinating range of locomotive abilities and complex behaviors. The locomotive behaviors can consist of a variety of walking patterns along with adaptation that allow…
In this paper, we present STRIDE, a Simple, Terrestrial, Reconfigurable, Intelligent, Dynamic, and Educational bipedal platform. STRIDE aims to propel bipedal robotics research and education by providing a cost-effective implementation with…
This paper presents the MOBIUS platform, a bipedal robot capable of walking, crawling, climbing, and rolling. MOBIUS features four limbs, two 6-DoF arms with two-finger grippers for manipulation and climbing, and two 4-DoF legs for…
Social navigation for bipedal robots remains relatively unexplored due to the highly complex, nonlinear dynamics of bipedal locomotion. This study presents a preliminary exploration of social navigation for bipedal robots in a human crowded…
The current capabilities of robotic systems make human collaboration necessary to accomplish complex tasks effectively. In this work, we are introducing a framework to ensure safety in a human-robot collaborative environment. The system is…
Humanoid robots maintain balance and navigate by controlling the contact wrenches applied to the environment. While it is possible to plan dynamically-feasible motion that applies appropriate wrenches using existing methods, a humanoid may…
Learning human-like, robust bipedal walking remains difficult due to hybrid dynamics and terrain variability. We propose a lightweight framework that combines a gait generator network learned from human motion with Proximal Policy…
Hybrid track/wheel-legged robots combine the advantages of wheel-based and leg-based locomotion, granting adaptability across varied terrains through efficient transitions between rolling and walking modes. However, automating these…
Principle Equation of Motion (for walkers) is derived that later results in introducing two piecewise-continuous dynamical systems namely Simplified Walking Model (SWM) and Complete Walking Model (CWM) which both describe the behavior of…
Embodiment is a significant keyword in recent machine learning fields. This study focused on the passive nature of the body of a biped robot to generate walking and running locomotion using model-based deep reinforcement learning. We…
Step adjustment for humanoid robots has been shown to improve robustness in gaits. However, step duration adaptation is often neglected in control strategies. In this paper, we propose an approach that combines both step location and timing…
In this paper, we present a new model of biped locomotion which is composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to double support, this model has…
Robust and energy-efficient bipedal locomotion in robotics is still a challenging topic. In order to address issues in this field, we can take inspiration from nature, by studying human locomotion. The Spring-Loaded Inverted Pendulum (SLIP)…
The heavy-load legged robot has strong load carrying capacity and can adapt to various unstructured terrains. But the large weight results in higher requirements for motion stability and environmental perception ability. In order to utilize…
In this paper, we present a novel two-level variable Horizon Model Predictive Control (VH-MPC) framework for bipedal locomotion. In this framework, the higher level computes the landing location and timing (horizon length) of the swing foot…
The waist plays a crucial role in the agile movement of many animals in nature. It provides the torso with additional degrees of freedom and flexibility, inspiring researchers to incorporate this biological feature into robotic structures…
Motion planning is a key tool that allows robots to navigate through an environment without collisions. The problem of robot motion planning has been studied in great detail over the last several decades, with researchers initially focusing…