Related papers: Bipedal Walking with Corrective Actions in the Til…
Legged robot research is presently focused on bipedal or quadrupedal robots, despite capabilities to build robots with many more legs to potentially improve locomotion performance. This imbalance is not necessarily due to hardware…
As bipedal robots become more and more popular in commercial and industrial settings, the ability to control them with a high degree of reliability is critical. To that end, this paper considers how to accurately estimate which feet are…
This paper presents a systematic approach to exponentially stabilize the periodic orbits of multi-domain hybrid systems arising from 3D bipedal walking. Firstly, the method of Poincare sections is extended to the hybrid systems with…
In this paper, we present a novel control framework to achieve robust push recovery on bipedal robots while locomoting. The key contribution is the unification of hybrid system models of locomotion with a reduced-order model predictive…
In this paper, with a view toward deployment of light-weight control frameworks for bipedal walking robots, we realize end-foot trajectories that are shaped by a single linear feedback policy. We learn this policy via a model-free and a…
A vast number of applications for legged robots entail tasks in complex, dynamic environments. But these environments put legged robots at high risk for limb damage. This paper presents an empirical study of fault tolerant dynamic gaits…
This paper presents a multi-phase whole-body model predictive control approach for bipedal walking, combining a detailed whole-body model in the near horizon with a simplified single-rigid-body model in the later prediction steps. This…
Biped robots are inherently unstable because of their complex kinematics as well as dynamics. Despite the many research efforts in developing biped locomotion, the performance of biped locomotion is still far from the expectations. This…
Although bipedal locomotion provides the ability to traverse unstructured environments, it requires careful planning and control to safely walk across without falling. This poses an integrated challenge for the robot to perceive, plan, and…
The objective of this work is to design a mechatronic bipedal robot with mobility in 3D environments. The designed robot has a total of six actuated degrees of freedom (DoF), each leg has two DoF located at the hip: one for…
Sim-to-real reinforcement learning (RL) for humanoid robots with high-gear ratio actuators remains challenging due to complex actuator dynamics and the absence of torque sensors. To address this, we propose a novel RL framework leveraging…
Walking controllers often require parametrization which must be tuned according to some cost function. To estimate these parameters, simulations can be performed which are cheap but do not fully represent reality. Real-robot experiments, on…
Balancing oneself using the spine is a physiological alignment of the body posture in the most efficient manner by the muscular forces for mammals. For this reason, we can see many disabled quadruped animals can still stand or walk even…
With the goal of moving towards implementation of increasingly dynamic behaviors on underactuated systems, this paper presents an optimization-based approach for solving full-body dynamics based controllers on underactuated bipedal robots.…
Low-dimensional models are ubiquitous in the bipedal robotics literature. On the one hand is the community of researchers that bases feedback control design on pendulum models selected to capture the center of mass dynamics of the robot…
Artificial time delay controller was conceptualised for nonlinear systems to reduce dependency on precise system modelling unlike the conventional adaptive and robust control strategies. In this approach unknown dynamics is compensated by…
The Cassie bipedal robot designed by Agility Robotics is providing academics a common platform for sharing and comparing algorithms for locomotion, perception, and navigation. This paper focuses on feedback control for standing and walking…
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…
The stability of standing in humans is a complex process that leads to maintaining the upright position against external disturbances. Balance control during standing is of vital importance for humans in daily life. An issue that is still…
Robot controllers are often optimised for a single robot in a single environment. This approach proves brittle, as such a controller will often fail to produce sensible behavior for a new morphology or environment. In comparison, animal…