Related papers: Walking Stabilization Using Step Timing and Locati…
In this work, we introduce a control framework that combines model-based footstep planning with Reinforcement Learning (RL), leveraging desired footstep patterns derived from the Linear Inverted Pendulum (LIP) dynamics. Utilizing the LIP…
This paper exposes a control architecture enabling rehabilitation of walking impaired patients with the lower-limb exoskeleton Atalante. Atalante's control system is modified to allow the patient to contribute to the walking motion through…
Human motion provides rich priors for training general-purpose humanoid control policies, but raw demonstrations are often incompatible with a robot's kinematics and dynamics, limiting their direct use. We present a two-stage pipeline for…
A quadruped robot faces balancing challenges on a six-degrees-of-freedom moving platform, like subways, buses, airplanes, and yachts, due to independent platform motions and resultant diverse inertia forces on the robot. To alleviate these…
To improve the control of wearable robotics for gait assistance, we present an approach for continuous locomotion mode recognition as well as gait phase and stair slope estimation based on artificial neural networks that include time…
There has been significant advancement in legged robot's agility where they can show impressive acrobatic maneuvers, such as parkour. These maneuvers rely heavily on posture manipulation. To expand the stability and locomotion plasticity,…
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…
Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…
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…
Learning adaptable policies is crucial for robots to operate autonomously in our complex and quickly changing world. In this work, we present a new meta-learning method that allows robots to quickly adapt to changes in dynamics. In contrast…
Several recently released humanoid robots, inspired by the mechanical design of Cassie, employ actuator configurations in which the motors are displaced from the joints to reduce leg inertia. While studies accounting for the full kinematic…
The Angular-Momentum Linear Inverted Pendulum (ALIP) model is a promising motion planner for bipedal robots. However, it relies on two assumptions: (1) the robot has point-contact feet or passive ankles, and (2) the angular momentum around…
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…
The aim of the present study involves designing a humanoid robot guide as a walking trainer for elderly and rehabilitation patients. The system is based on the humanoid robot Pepper with a compliance approach that allows to match the motion…
Entanglements like vines and branches in natural settings or cords and pipes in human spaces prevent mobile robots from accessing many environments. Legged robots should be effective in these settings, and more so than wheeled or tracked…
Selecting robot design parameters can be challenging since these parameters are often coupled with the performance of the controller and, therefore, the resulting capabilities of the robot. This leads to a time-consuming and often expensive…
Although robots with flexible bodies are superior in terms of the contact and adaptability, it is difficult to control them precisely. On the other hand, human beings make use of the surrounding environments to stabilize their bodies and…
Wearable robots offer a promising solution for quantitatively monitoring gait and providing systematic, adaptive assistance to promote patient independence and improve gait. However, due to significant interpersonal and intrapersonal…
Hopping robots often lose balance on slopes because the tilted ground creates unwanted rotation at landing. This work analyzes that effect using a simple spring mass model and identifies how slope induced impulses destabilize the robot. To…
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…