Related papers: Analytic Model for Quadruped Locomotion Task-Space…
With the research into development of quadruped robots picking up pace, learning based techniques are being explored for developing locomotion controllers for such robots. A key problem is to generate leg trajectories for continuously…
The aim of this work is to define a planner that enables robust legged locomotion for complex multi-agent systems consisting of several holonomically constrained quadrupeds. To this end, we employ a methodology based on behavioral systems…
Some of the most challenging environments on our planet are accessible to quadrupedal animals but remain out of reach for autonomous machines. Legged locomotion can dramatically expand the operational domains of robotics. However,…
Quadruped locomotion provides a natural setting for understanding when model-free learning can outperform model-based control design, by exploiting data patterns to bypass the difficulty of optimizing over discrete contacts and the…
Humanoid robots are made to resemble humans but their locomotion abilities are far from ours in terms of agility and versatility. When humans walk on complex terrains, or face external disturbances, they combine a set of strategies,…
Miniature-legged robots are constrained by their onboard computation and control, thus motivating the need for simple, first-principles-based geometric models that connect \emph{periodic actuation or gaits} (a universal robot control…
Precise trajectory tracking for legged robots can be challenging due to their high degrees of freedom, unmodeled nonlinear dynamics, or random disturbances from the environment. A commonly adopted solution to overcome these challenges is to…
Energy management is a fundamental challenge for legged robots in outdoor environments. Endurance directly constrains mission success, while efficient resource use reduces ecological impact. This paper investigates how terrain slope and…
Quadrupeds transition spontaneously to various gait patterns (e.g., walk, trot, pace, gallop) in response to the locomotion speed. The generation of these gait patterns has been the subject of debate for a long time. We propose a coupled…
Legged locomotion is a challenging task in the field of robotics but a rather simple one in nature. This motivates the use of biological methodologies as solutions to this problem. Central pattern generators are neural networks that are…
Robots still struggle to dynamically traverse complex 3-D terrain with many large obstacles, an ability required for many critical applications. Body-obstacle interaction is often inevitable and induces perturbation and uncertainty in…
To dynamically traverse challenging terrain, legged robots need to continually perceive and reason about upcoming features, adjust the locations and timings of future footfalls and leverage momentum strategically. We present a pipeline that…
Designing agile locomotion for quadruped robots often requires extensive expertise and tedious manual tuning. In this paper, we present a system to automate this process by leveraging deep reinforcement learning techniques. Our system can…
In this article, we show that learned policies can be applied to solve legged locomotion control tasks with extensive flight phases, such as those encountered in space exploration. Using an off-the-shelf deep reinforcement learning…
Recently reinforcement learning (RL) has emerged as a promising approach for quadrupedal locomotion, which can save the manual effort in conventional approaches such as designing skill-specific controllers. However, due to the complex…
Quadrupedal robots resemble the physical ability of legged animals to walk through unstructured terrains. However, designing a controller for quadrupedal robots poses a significant challenge due to their functional complexity and requires…
Wheeled-legged robots combine the efficiency of wheeled robots when driving on suitably flat surfaces and versatility of legged robots when stepping over or around obstacles. This paper introduces a planning and control framework to realise…
In nature, animals with exceptional locomotion abilities, such as cougars, often possess asymmetric fore and hind legs. This observation inspired us: could optimizing the leg length of quadruped robots endow them with similar locomotive…
Dynamic traversal of uneven terrain is a major objective in the field of legged robotics. The most recent model predictive control approaches for these systems can generate robust dynamic motion of short duration; however, planning over a…
Robots operating in human environments need various skills, like slow and fast walking, turning, side-stepping, and many more. However, building robot controllers that can exhibit such a large range of behaviors is a challenging problem…