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Achieving versatile and explosive motion with robustness against dynamic uncertainties is a challenging task. Introducing parallel compliance in quadrupedal design is deemed to enhance locomotion performance, which, however, makes the…
Most of the quadrupeds developed are highly actuated, and their control is hence quite cumbersome. They need advanced electronics equipment to solve convoluted inverse kinematic equations continuously. In addition, they demand special and…
Like mammals, robots must rapidly learn to control their bodies and interact with their environment despite incomplete knowledge of their body structure and surroundings. They must also adapt to continuous changes in both. This work…
This paper presents three feedback controllers that achieve an asymptotically stable, periodic, and fast walking gait for a 3D (spatial) bipedal robot consisting of a torso, two legs, and passive (unactuated) point feet. The contact between…
While single-agent legged locomotion has witnessed remarkable progress, individual robots remain fundamentally constrained by physical actuation limits. To transcend these boundaries, we introduce Co-jump, a cooperative task where two…
Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…
Although recent years have seen significant progress of humanoid robots in walking and running, the frequent foot strikes with ground during these locomotion gaits inevitably generate high instantaneous impact forces, which leads to…
This work explores the potential of using differentiable simulation for learning quadruped locomotion. Differentiable simulation promises fast convergence and stable training by computing low-variance first-order gradients using robot…
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…
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…
Among small-scale mobile robots, multi-modal locomotion can help compensate for limited actuator capabilities. However, supporting multiple locomotion modes or gaits in small terrestrial robots typically requires complex designs with low…
Conventional mobile tensegrity robots constructed with straight links offer mobility at the cost of locomotion speed. While spherical robots provide highly effective rolling behavior, they often lack the stability required for navigating…
Multi-legged mobile robots possess high mobility performance in rough terrain environments, stemming from their high postural stability, joint flexibility, and the redundancy provided by multiple legs. In prior research on navigating…
In this work, the novel, open-source humanoid robot, PANDORA, is presented where a majority of the structural elements are manufactured using 3D-printed compliant materials. As opposed to contemporary approaches that incorporate the elastic…
The ability to perform locomotion in various terrains is critical for legged robots. However, the robot has to have a better understanding of the surface it is walking on to perform robust locomotion on different terrains. Animals and…
We present a design, model, and control for a novel jumping-flying robot that is called PogoDrone. The robot is composed of a quadrotor with a passive mechanism for jumping. The robot can continuously jump in place or fly like a normal…
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…
Legged locomotion enables robotic systems to traverse extremely challenging terrains. In many real-world scenarios, the terrain is not that difficult and these mixed terrain types introduce the need for flexible use of different walking…
In this paper, considering a braided continuum soft-robot, whose radial deformation is constrained but elongation is assumed, a quasi-Lagrangian model is proposed that meets the Lagrangian models properties, including a well-posed input…
Triphibious robots capable of multi-domain motion and cross-domain transitions are promising to handle complex tasks across diverse environments. However, existing designs primarily focus on dual-mode platforms, and some designs suffer from…