Related papers: Toward an Expressive Bipedal Robot: Variable Gait …
The application of biomechanic and motor control models in the control of bidedal robots (humanoids, and exoskeletons) has revealed limitations of our understanding of human locomotion. A recently proposed model uses the potential energy…
In social robotics, endowing humanoid robots with the ability to generate bodily expressions of affect can improve human-robot interaction and collaboration, since humans attribute, and perhaps subconsciously anticipate, such traces to…
Most legged robots are built with leg structures from serially mounted links and actuators and are controlled through complex controllers and sensor feedback. In comparison, animals developed multi-segment legs, mechanical coupling between…
This paper introduces MotionGlot, a model that can generate motion across multiple embodiments with different action dimensions, such as quadruped robots and human bodies. By leveraging the well-established training procedures commonly used…
Identifying humans with their walking sequences, known as gait recognition, is a useful biometric understanding task as it can be observed from a long distance and does not require cooperation from the subject. Two common modalities used…
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…
Prediction of human motions is key for safe navigation of autonomous robots among humans. In cluttered environments, several motion hypotheses may exist for a pedestrian, due to its interactions with the environment and other pedestrians.…
Symmetry manifests itself in legged locomotion in a variety of ways. No matter where a legged system begins to move periodically, the torso and limbs coordinate with each other's movements in a similar manner. Also, in many gaits observed…
This paper presents an online walking synthesis methodology to enable dynamic and stable walking on constrained footholds for underactuated bipedal robots. Our approach modulates the change of angular momentum about the foot-ground contact…
Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of locomotion, but traversing unfavorable environments may require…
Our goal is to enable robots to \emph{time} their motion in a way that is purposefully expressive of their internal states, making them more transparent to people. We start by investigating what types of states motion timing is capable of…
The planning of whole-body motion and step time for bipedal locomotion is constructed as a model predictive control (MPC) problem, in which a sequence of optimization problems needs to be solved online. While directly solving these problems…
This study focuses on the locomotion capability improvement in a tendon-driven soft quadruped robot through an online adaptive learning approach. Leveraging the inverse kinematics model of the soft quadruped robot, we employ a central…
Multi-legged robots offer enhanced stability in complex terrains, yet autonomously learning natural and robust motions in such environments remains challenging. Drawing inspiration from animals' progressive learning patterns, from simple to…
One of the most efficient ways of generating goal-directed walking motions is synthesising the final motion based on footprints. Nevertheless, current implementations have not examined the generation of continuous motion based on…
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…
We present a versatile framework for the computational co-design of legged robots and dynamic maneuvers. Current state-of-the-art approaches are typically based on random sampling or concurrent optimization. We propose a novel bilevel…
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…
Bipedal robots promise the ability to traverse rough terrain quickly and efficiently, and indeed, humanoid robots can now use strong ankles and careful foot placement to traverse discontinuous terrain. However, more agile underactuated…
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…