Related papers: Enhancing the Vertical Mobility of a Robot Hexapod…
Quadrupedal locomotion over complex terrain has been a long-standing research topic in robotics. While recent reinforcement learning-based locomotion methods improve generalizability and foot-placement precision, they rely on implicit…
The selection of mobility modes for robot navigation consists of various trade-offs. Snake robots are ideal for traversing through constrained environments such as pipes, cluttered and rough terrain, whereas bipedal robots are more suited…
Robotic mobility in microgravity is necessary to expand human utilization and exploration of outer space. Bio-inspired multi-legged robots are a possible solution for safe and precise locomotion. However, a dynamic motion of a robot in…
Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially…
SLOT (Soft Legged Omnidirectional Tetrapod), a tendon-driven soft quadruped robot with 3D-printed TPU legs, is presented to study physics-informed modeling and control of compliant legged locomotion using only four actuators. Each leg is…
Classical snake robot control leverages mimicking snake-like gaits tuned for specific environments. However, to operate adaptively in unstructured environments, gait generation must be dynamically scheduled. In this work, we present a…
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)…
Deformable substrates such as sand and mud present significant challenges for terrestrial robots due to complex robot-terrain interactions. Inspired by mudskippers, amphibious animals that naturally adjust their tail morphology and movement…
Soft robotic snakes (SRSs) have a unique combination of continuous and compliant properties that allow them to imitate the complex movements of biological snakes. Despite the previous attempts to develop SRSs, many have been limited to…
For the deployment of legged robots in real-world environments, it is essential to develop robust locomotion control methods for challenging terrains that may exhibit unexpected deformability and irregularity. In this paper, we explore the…
Quadruped robots have made significant advances in locomotion, extending their capabilities from controlled environments to real-world applications. Beyond movement, recent work has explored loco-manipulation using the legs to perform tasks…
Orb-weaving spiders detect prey on a web using vibration sensors at leg joints. They often dynamically crouch their legs during prey sensing, likely an active sensing strategy. However, how leg crouching enhances sensing is poorly…
Recent progress in legged locomotion has allowed highly dynamic and parkour-like behaviors for robots, similar to their biological counterparts. Yet, these methods mostly rely on egocentric (first-person) perception, limiting their…
Sprawling locomotion in vertebrates, particularly salamanders, demonstrates how body undulation and spinal mobility enhance stability, maneuverability, and adaptability across complex terrains. While prior work has separately explored…
Rigid-bodied robots often lack compliance needed to adapt to unstructured environments, while fully soft robots, though highly adaptable, struggle with scalability and load capacity. In nature, musculoskeletal systems balance strength and…
This paper presents the MOBIUS platform, a bipedal robot capable of walking, crawling, climbing, and rolling. MOBIUS features four limbs, two 6-DoF arms with two-finger grippers for manipulation and climbing, and two 4-DoF legs for…
Microscopic robots could perform tasks with high spatial precision, such as acting in biological tissues on the scale of individual cells, provided they can reach precise locations. This paper evaluates the feasibility of in vivo locomotion…
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…
Quadrupedal robots hold promising potential for applications in navigating cluttered environments with resilience akin to their animal counterparts. However, their floating base configuration makes them vulnerable to real-world…
Many animals, modern aircraft, and underwater vehicles use streamlined body shapes that reduce fluid dynamic drag to achieve fast and effective locomotion in air and water. Similarly, numerous small terrestrial animals move through…