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This paper presents a method for achieving high-speed running of a quadruped robot by considering the actuator torque-speed operating region in reinforcement learning. The physical properties and constraints of the actuator are included in…
We present an approach to learn fast and dynamic robot motions without exceeding limits on the position $\theta$, velocity $\dot{\theta}$, acceleration $\ddot{\theta}$ and jerk $\dddot{\theta}$ of each robot joint. Movements are generated…
Pneumatic muscle actuators (PMA) are easy-to-fabricate, lightweight, compliant, and have high power-to-weight ratio, thus making them the ideal actuation choice for many soft and continuum robots. But so far, limited work has been carried…
As the pace of AI technology continues to accelerate, more tools have become available to researchers to solve longstanding problems, Hybrid approaches available today continue to push the computational limits of efficiency and precision.…
Humanoid robots may require a degree of compliance at the joint level for improving efficiency, shock tolerance, and safe interaction with humans. The presence of joint elasticity, however, complexifies the design of balancing and walking…
Human-robot collaboration has gained a notable prominence in Industry 4.0, as the use of collaborative robots increases efficiency and productivity in the automation process. However, it is necessary to consider the use of mechanisms that…
We explore how high-speed robot arm motions can dynamically manipulate cables to vault over obstacles, knock objects from pedestals, and weave between obstacles. In this paper, we propose a self-supervised learning framework that enables a…
Robotic arms, integral in domestic care for individuals with motor impairments, enable them to perform Activities of Daily Living (ADLs) independently, reducing dependence on human caregivers. These collaborative robots require users to…
Learning diverse locomotion skills for humanoid robots in a unified reinforcement learning framework remains challenging due to the conflicting requirements of stability and dynamic expressiveness across different gaits. We present a…
Assistive robots offer agency to humans with severe motor impairments. Often, these users control high-DoF robots through low-dimensional interfaces, such as using a 1-D sip-and-puff interface to operate a 6-DoF robotic arm. This mismatch…
This article proposes a mobile quad-arm robot: ARMS, which unifies wheeled-legged tripedal locomotion, wheeled locomotion, and quad-arm loco-manipulation. ARMS's four arms have different mechanisms and are partially designed to be…
Generally, humanoid robots usually suffer significant impact force when walking or running in a non-predefined environment that could easily damage the actuators due to high stiffness. In recent years, the usages of passive, compliant…
Humanoid robots have complex bodies and kinematic chains with several Degrees-of-Freedom (DoF) which are difficult to model. Learning the parameters of a kinematic model can be achieved by observing the position of the robot links during…
Highly articulated organisms serve as blueprints for incredibly dexterous mechanisms, but building similarly capable robotic counterparts has been hindered by the difficulties of developing electromechanical actuators with both the high…
To simply and effectively realize the trajectory tracking control of a bionic joint actuated by a single pneumatic artificial muscle (PAM), a cascaded control strategy is proposed based on the robust modeling method. Firstly, the…
Whole-body loco-manipulation for quadruped robots with arms remains a challenging problem, particularly in achieving multi-task control. To address this, we propose MLM, a reinforcement learning framework driven by both real-world and…
As aerial robots gain traction in industrial applications, there is growing interest in enhancing their physical interaction capabilities. Pushing tasks performed by aerial manipulators have been successfully demonstrated in contact-based…
Many technical solutions are bio-inspired. Octopus-inspired robotic arms belong to continuum robots which are used in minimally invasive surgery or for technical system restoration in areas difficult-toaccess. Continuum robot missions are…
Multi-degree of freedom robots are playing very important role in different applications of automation. They are providing much more accuracy in carrying out a typical procedure as compared to the manual work done by human. In recent years…
This technical report gives an overview of our work on control algorithms dealing with redundant robot systems for achieving human-like motion characteristics. Previously, we developed a novel control law to exhibit human-motion…