Related papers: Design, Simulation, and Testing of a Flexible Actu…
The humanoid robot iCub is a research platform of the Fondazione Istituto Italiano di Tecnologia (IIT), spread among different institutes around the world. In the most recent version of iCub, the robot is equipped with stronger legs and…
Gaits and transitions are key components in legged locomotion. For legged robots, describing and reproducing gaits as well as transitions remain longstanding challenges. Reinforcement learning has become a powerful tool to formulate…
We introduce Berkeley Humanoid, a reliable and low-cost mid-scale humanoid research platform for learning-based control. Our lightweight, in-house-built robot is designed specifically for learning algorithms with low simulation complexity,…
Legged robots leverage ground contacts and the reaction forces they provide to achieve agile locomotion. However, uncertainty coupled with contact discontinuities can lead to failure, especially in real-world environments with unexpected…
To be useful tools in real scenarios, humanoid robots must realize tasks dynamically. This means that they must be capable of applying substantial forces, rapidly swinging their limbs, and also mitigating impacts that may occur during the…
Learning-based approaches have recently shown notable success in legged locomotion. However, these approaches often lack accountability, necessitating empirical tests to determine their effectiveness. In this work, we are interested in…
Legged rovers provide enhanced mobility compared to wheeled platforms, enabling navigation on steep and irregular planetary terrains. However, traditional legged locomotion might be energetically inefficient and potentially dangerous to the…
Adaptive control can address model uncertainty in control systems. However, it is preliminarily designed for tracking control. Recent advancements in the control of quadruped robots show that force control can effectively realize agile and…
Bipedal walking is one of the most important hallmarks of human that robots have been trying to mimic for many decades. Although previous control methodologies have achieved robot walking on some terrains, there is a need for a framework…
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…
Conventional mobile tensegrity robots constructed with straight links offer mobility at the cost of locomotion speed. While spherical robots provide highly effective rolling behavior, they often lack the stability required for navigating…
Dexterous manipulation is a fundamental capability for robotic systems, yet progress has been limited by hardware trade-offs between precision, compactness, strength, and affordability. Existing control methods impose compromises on hand…
Electric quadruped robots used in outdoor exploration are susceptible to leg-related electrical or mechanical failures. Unexpected joint power loss and joint locking can immediately pose a falling threat. Typically, controllers lack the…
Legged robots constructed from soft materials are commonly claimed to demonstrate safer, more robust environmental interactions than their rigid counterparts. However, this motivating feature of soft robots requires more rigorous…
Salamander-like quadruped robots are designed inspired by the skeletal structure of their biological counterparts. However, existing controllers cannot fully exploit these morphological features and largely rely on predefined gait patterns…
Soft robots are notoriously hard to control. This is partly due to the scarcity of models able to capture their complex continuum mechanics, resulting in a lack of control methodologies that take full advantage of body compliance. Currently…
When we develop wearable assistive devices comfort and support are two main issues needed to be considered. In conventional design approaches, the degree of freedom of wearer's joint movement tends to be oversimplified. Accordingly, the…
Legged locomotion shows promise for running in complex, unstructured environments. Designing such legged robots requires considering heterogeneous, multi-domain constraints and variables, from mechanical hardware and geometry choices to…
Nowadays, design and development of legged quadruped robots is a quite active area of scientific research. In fact, the legged robots have become popular due to their capabilities to adapt to harsh terrains and diverse environmental…
This work explores the potential of using differentiable simulation for learning quadruped locomotion. Differentiable simulation promises fast convergence and stable training by computing low-variance first-order gradients using robot…