Related papers: Feedback Control of a Cassie Bipedal Robot: Walkin…
The control of bipedal robotic walking remains a challenging problem in the domains of computation and experiment, due to the multi-body dynamics and various sources of uncertainty. In recent years, there has been a rising trend towards…
Motivated towards achieving multi-modal locomotion, in this paper, we develop a framework for a bipedal robot to dynamically ride a pair of Hovershoes over various terrain. Our developed control strategy enables the Cassie bipedal robot to…
In this paper, we explore the space of running gaits for the bipedal robot Cassie. Our first contribution is to present an approach for optimizing gait efficiency across a spectrum of speeds with the aim of enabling extremely high-speed…
This work explores an innovative algorithm designed to enhance the mobility of underactuated bipedal robots across challenging terrains, especially when navigating through spaces with constrained opportunities for foot support, like steps…
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…
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…
In this work, we propose a learning approach for 3D dynamic bipedal walking when footsteps are constrained to stepping stones. While recent work has shown progress on this problem, real-world demonstrations have been limited to relatively…
Creating robots with emotional personalities will transform the usability of robots in the real world. As previous emotive social robots are mostly based on statically stable robots whose mobility is limited, this paper develops an…
In this paper, a hierarchical and robust framework for learning bipedal locomotion is presented and successfully implemented on the 3D biped robot Digit built by Agility Robotics. We propose a cascade-structure controller that combines the…
When legged robots impact their environment, they undergo large changes in their velocities in a small amount of time. Measuring and applying feedback to these velocities is challenging, and is further complicated due to uncertainty in the…
Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the robot without interfering with the target direction and speed…
Developing robust walking controllers for bipedal robots is a challenging endeavor. Traditional model-based locomotion controllers require simplifying assumptions and careful modelling; any small errors can result in unstable control. To…
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…
Recently, work on reinforcement learning (RL) for bipedal robots has successfully learned controllers for a variety of dynamic gaits with robust sim-to-real demonstrations. In order to maintain balance, the learned controllers have full…
The remarkable athletic intelligence displayed by humans in complex dynamic movements such as dancing and gymnastics suggests that the balance mechanism in biological beings is decoupled from specific movement patterns. This decoupling…
Not until recently, robust bipedal locomotion has been achieved through reinforcement learning. However, existing implementations rely heavily on insights and efforts from human experts, which is costly for the iterative design of robot…
This paper presents a neural-network based adaptive feedback control structure to regulate the velocity of 3D bipedal robots under dynamics uncertainties. Existing Hybrid Zero Dynamics (HZD)-based controllers regulate velocity through the…
This paper presents three feedback controllers that achieve an asymptotically stable, periodic, and fast walking gait for a 3D (spatial) bipedal robot consisting of a torso, two legs, and passive (unactuated) point feet. The contact between…
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 work aims to push the limits of agility for bipedal robots by enabling a torque-controlled bipedal robot to perform robust and versatile dynamic jumps in the real world. We present a reinforcement learning framework for training a…