Related papers: Modeling and Analysis of Walking Pattern for a Bip…
Deep reinforcement learning (RL) based controllers for legged robots have demonstrated impressive robustness for walking in different environments for several robot platforms. To enable the application of RL policies for humanoid robots in…
This paper introduces the Stoch BiRo, a cost-effective bipedal robot designed with a modular mechanical structure having point feet to navigate uneven and unfamiliar terrains. The robot employs proprioceptive actuation in abduction, hips,…
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…
For legged robots to match the athletic capabilities of humans and animals, they must not only produce robust periodic walking and running, but also seamlessly switch between nominal locomotion gaits and more specialized transient…
When a big and heavy robot moves, it exerts large forces on the environment and on its own structure, its angular momentum can varysubstantially, and even the robot's structure can deform if there is a mechanical weakness. Under these…
Bio-inspired walking hexapod robots are a relatively young branch in robotics in both state of the art and applications. Despite their high degree of flexibility and adaptability derived by their redundant design, the research field that…
This paper presents an online framework for synthesizing agile locomotion for bipedal robots that adapts to unknown environments, modeling errors, and external disturbances. To this end, we leverage step-to-step (S2S) dynamics which has…
This paper presents a framework that leverages both control theory and machine learning to obtain stable and robust bipedal locomotion without the need for manual parameter tuning. Traditionally, gaits are generated through trajectory…
In this paper we present advancements in control and trajectory generation for agile behavior in bipedal robots. We demonstrate that Whole-Body Operational Space Control (WBOSC), developed a few years ago, is well suited for achieving two…
For the deployment of legged robots in real-world environments, it is essential to develop robust locomotion control methods for challenging terrains that may exhibit unexpected deformability and irregularity. In this paper, we explore the…
The ability of bipedal robots to adapt to diverse and unstructured terrain conditions is crucial for their deployment in real-world environments. To this end, we present a novel, bio-inspired robot foot design with stabilizing tarsal…
While quadruped robots usually have good stability and load capacity, bipedal robots offer a higher level of flexibility / adaptability to different tasks and environments. A multi-modal legged robot can take the best of both worlds. In…
This paper proposes a modular framework to generate robust biped locomotion using a tight coupling between an analytical walking approach and deep reinforcement learning. This framework is composed of six main modules which are…
Model-based control usually relies on an accurate model, which is often obtained from CAD and actuator models. The more accurate the model the better the control performance. However, in bipedal robots that demonstrate high agility actions,…
Contact modeling plays a central role in motion planning, simulation, and control of legged robots, as legged locomotion is realized through contact. The two prevailing approaches to model the contact consider rigid and compliant premise at…
Bipeds have demonstrated high agility and mobility in unstructured environments such as sand. The yielding of such granular media brings significant sinkage and slip of the bipedal feet, leading to uncertainty and instability of walking…
A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…
A robot guide dog has compelling advantages over animal guide dogs for its cost-effectiveness, potential for mass production, and low maintenance burden. However, despite the long history of guide dog robot research, previous studies were…
Wheeled bipedal robots (WBRs) have the capability to execute agile and versatile locomotion tasks. This paper focuses on improving the dynamic performance of WBRs through innovations in both hardware and software development. Inspired by…
Achieving stable bipedal walking on surfaces with unknown motion remains a challenging control problem due to the hybrid, time-varying, partially unknown dynamics of the robot and the difficulty of accurate state and surface motion…