Related papers: Autonomous Locomotion Mode Transition in Quadruped…
Taking inspiration from the natural gait transition mechanism of quadrupeds, devising a good gait transition strategy is important for quadruped robots to achieve energy-efficient locomotion on various terrains and velocities. While…
While quadruped robots usually have good stability and load capacity, bipedal robots offer a higher level of flexibility / adaptability to different tasks and environments. A multi-modal legged robot can take the best of both worlds. In…
Wheeled-legged robots have the potential for highly agile and versatile locomotion. The combination of legs and wheels might be a solution for any real-world application requiring rapid, and long-distance mobility skills on challenging…
Quadruped robots are often designed with rigid feet to simplify control and maintain stable contact during locomotion. While this approach is straightforward, it limits the ability of the legs to absorb impact forces and reuse stored…
Hybrid locomotion of wheeled-legged robots has recently attracted increasing attention due to their advantages of combining the agility of legged locomotion and the efficiency of wheeled motion. But along with expanded performance, the…
It is often overlooked by roboticists when designing locomotion controllers for their legged machines, that energy consumption plays an important role in selecting the best gaits for locomotion at high speeds or over long distances. The…
In reinforcement learning for legged robot locomotion, crafting effective reward strategies is crucial. Pre-defined gait patterns and complex reward systems are widely used to stabilize policy training. Drawing from the natural locomotion…
Locomotion has seen dramatic progress for walking or running across challenging terrains. However, robotic quadrupeds are still far behind their biological counterparts, such as dogs, which display a variety of agile skills and can use the…
To traverse complex scenarios reliably a legged robot needs to move its base aided by the ground reaction forces, which can only be generated by the legs that are momentarily in contact with the ground. A proper selection of footholds is…
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…
Galloping is a common high-speed gait in both animals and quadrupedal robots, yet its energetic characteristics remain insufficiently explored. This study systematically analyzes a large number of possible galloping gaits by categorizing…
We focus on the problem of developing energy efficient controllers for quadrupedal robots. Animals can actively switch gaits at different speeds to lower their energy consumption. In this paper, we devise a hierarchical learning framework,…
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…
Legged rovers provide enhanced mobility compared to wheeled platforms, enabling navigation on steep and irregular planetary terrains. However, traditional legged locomotion might be energetically inefficient and potentially dangerous to the…
We show dynamic locomotion strategies for wheeled quadrupedal robots, which combine the advantages of both walking and driving. The developed optimization framework tightly integrates the additional degrees of freedom introduced by the…
Gaits and transitions are key components in legged locomotion. For legged robots, describing and reproducing gaits as well as transitions remain longstanding challenges. Reinforcement learning has become a powerful tool to formulate…
Wheeled-legged robots combine the efficiency of wheels with the versatility of legs, but face significant energy optimization challenges when navigating diverse environments. In this work, we present a hierarchical control framework that…
This study explores the dynamics of asymmetrical bounding gaits in quadrupedal robots, focusing on the integration of torso pitching and hip motion to enhance speed and stability. Traditional control strategies often enforce a fixed…
Hybrid locomotion, which combines multiple modalities of locomotion within a single robot, enables robots to carry out complex tasks in diverse environments. This paper presents a novel method for planning multi-modal locomotion…
Fast and versatile locomotion can be achieved with wheeled quadruped robots that drive quickly on flat terrain, but are also able to overcome challenging terrain by adapting their body pose and by making steps. In this paper, we present a…