Related papers: Online Adaptation for Humanoids Walking On Uncerta…

To proactively navigate and traverse various terrains, active use of visual perception becomes indispensable. We aim to investigate the feasibility and performance of using sparse visual observations to achieve perceptual locomotion over a…

Fluent and safe interactions of humans and robots require both partners to anticipate the others' actions. A common approach to human intention inference is to model specific trajectories towards known goals with supervised classifiers.…

Whole-body Control (WBC) has emerged as an important framework in locomotion control for legged robots. However, most of WBC frameworks fail to generalize beyond rigid terrains. Legged locomotion over soft terrain is difficult due to the…

This paper evaluates the capabilities of a soft robotic pneumatic actuator derived from the terrain display haptic device, "The Smart Shoe." The bladder design of the Smart Shoe is upgraded to include a pressure supply and greater output…

Previous studies have successfully demonstrated agile and robust locomotion in challenging terrains for quadrupedal robots. However, the bipedal locomotion mode for quadruped robots remains unverified. This paper explores the adaptation of…

Traversing risky terrains with sparse footholds presents significant challenges for legged robots, requiring precise foot placement in safe areas. To acquire comprehensive exteroceptive information, prior studies have employed motion…

We present a legged motion planning approach for quadrupedal locomotion over challenging terrain. We decompose the problem into body action planning and footstep planning. We use a lattice representation together with a set of defined body…

This article addresses the challenge of adapting data-based models over time. We propose a novel two-fold modelling architecture designed to correct plant-model mismatch caused by two types of uncertainty. Out-of-domain uncertainty arises…

Legged robots have shown remarkable advantages in navigating uneven terrain. However, realizing effective locomotion and manipulation tasks on quadruped robots is still challenging. In addition, object and terrain parameters are generally…

Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…

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…

Assistive robotic devices, like soft lower-limb exoskeletons or exosuits, are widely spreading with the promise of helping people in everyday life. To make such systems adaptive to the variety of users wearing them, it is desirable to endow…

Uncertainty-aware robot motion prediction is crucial for downstream traversability estimation and safe autonomous navigation in unstructured, off-road environments, where terrain is heterogeneous and perceptual uncertainty is high. Most…

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…

Computing stabilizing and optimal control actions for legged locomotion in real time is difficult due to the nonlinear, hybrid, and high dimensional nature of these robots. The hybrid nature of the system introduces a combination of…

In order to achieve autonomous vertical wall climbing, the transition phase from the ground to the wall requires extra consideration inevitably. This paper focuses on the contact sequence planner to transition between flat terrain and…

Teleoperated humanoid robots hold significant potential as physical avatars for humans in hazardous and inaccessible environments, with the goal of channeling human intelligence and sensorimotor skills through these robotic counterparts.…

Traversability estimation in rugged, unstructured environments remains a challenging problem in field robotics. Often, the need for precise, accurate traversability estimation is in direct opposition to the limited sensing and compute…

In this article, we propose a deep learning framework that provides a unified approach to the problem of leg contact detection in humanoid robot walking gaits. Our formulation accomplishes to accurately and robustly estimate the contact…

This paper introduces our methodology to estimate sidewalk accessibilities from wheelchair behavior via a triaxial accelerometer in a smartphone installed under a wheelchair seat. Our method recognizes sidewalk accessibilities from…