Related papers: Autonomous Locomotion Mode Transition in Quadruped…
Quadrupedal wheeled-legged robots combine the advantages of legged and wheeled locomotion to achieve superior mobility, but executing dynamic jumps remains a significant challenge due to the additional degrees of freedom introduced by…
In this paper, we present a general learning framework for controlling a quadruped robot that can mimic the behavior of real animals and traverse challenging terrains. Our method consists of two steps: an imitation learning step to learn…
Most locomotion methods for humanoid robots focus on leg-based gaits, yet natural bipeds frequently rely on hands, knees, and elbows to establish additional contacts for stability and support in complex environments. This paper introduces…
Single locomotion robots often struggle to adapt in highly variable or uncertain environments, especially in emergencies. In this paper, a multi-modal deformable robot is introduced that can both fly and drive. Compatibility issues with…
Selecting robot design parameters can be challenging since these parameters are often coupled with the performance of the controller and, therefore, the resulting capabilities of the robot. This leads to a time-consuming and often expensive…
This paper proposes a modular framework to generate robust biped locomotion using a tight coupling between an analytical walking approach and deep reinforcement learning. This framework is composed of six main modules which are…
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…
Loco-manipulation of quadrupedal robots has broadened robotic applications, but using legs as manipulators often compromises locomotion, while mounting arms complicates the system. To mitigate this issue, we introduce bipedalism for…
Worm-inspired robots provide an effective locomotion strategy for constrained environments by combining cyclic body deformation with alternating anchoring. For compliant robots, however, the interaction between deformable anchoring…
This review considers a problem in the development of mobile robot adhesion methods with vertical surfaces and the appropriate locomotion mechanism design. The evolution of adhesion methods for wall-climbing robots (based on friction,…
Robust and energy-efficient bipedal locomotion in robotics is still a challenging topic. In order to address issues in this field, we can take inspiration from nature, by studying human locomotion. The Spring-Loaded Inverted Pendulum (SLIP)…
Learning multiple gaits is non-trivial for legged robots, especially when encountering different terrains and velocity commands. In this work, we present an end-to-end training framework for learning multiple gaits for quadruped robots,…
This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…
Unlike their biological cousins, the majority of existing quadrupedal robots are constructed with rigid chassis. This results in motion that is either beetle-like or distinctly robotic, lacking the natural fluidity characteristic of…
Agile-legged robots have proven to be highly effective in navigating and performing tasks in complex and challenging environments, including disaster zones and industrial settings. However, these applications normally require the capability…
Legged robots leverage ground contacts and the reaction forces they provide to achieve agile locomotion. However, uncertainty coupled with contact discontinuities can lead to failure, especially in real-world environments with unexpected…
Multimodal locomotion capability is an emerging topic in robotics field, and various novel mobile robots have been developed to enable the maneuvering in both terrestrial and aerial domains. Among these hybrid robots, several…
This paper proposes a safety-critical locomotion control framework employed for legged robots exploring through infeasible path in obstacle-rich environments. Our research focus is on achieving safe and robust locomotion where robots…
We present an open-source untethered quadrupedal soft robot platform for dynamic locomotion (e.g., high-speed running and backflipping). The robot is mostly soft (80 vol.%) while driven by four geared servo motors. The robot's soft body and…
With the rapid development of embodied intelligence, locomotion control of quadruped robots on complex terrains has become a research hotspot. Unlike traditional locomotion control approaches focusing solely on velocity tracking, we pursue…