Related papers: Improved Performance on Moving-Mass Hopping Robots…
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)…
Many studies have been conducted on Series Elastic Actuators (SEA) for robot joints because they are effective in terms of flexibility, safety, and energy efficiency. The ability of SEA to robustly handle unexpected disturbances has raised…
Generating dynamic jumping motions on legged robots remains a challenging control problem as the full flight phase and large landing impact are expected. Compared to quadrupedal robots or other multi-legged robots, bipedal robots place…
This paper discusses the utility of using simple stiffness and vibrations models, based on the Jacobian matrix of a manipulator and only the rigidity of the actuators, whenever its geometry is optimised. In many works, these simplified…
We propose an online motion planner for legged robot locomotion with the primary objective of achieving energy efficiency. The conceptual idea is to leverage a placement set of footstep positions based on the robot's body position to…
Overcoming robotics challenges in the real world requires resilient control systems capable of handling a multitude of environments and unforeseen events. Evolutionary optimization using simulations is a promising way to automatically…
Replicating the remarkable athleticism seen in animals has long been a challenge in robotics control. Although Reinforcement Learning (RL) has demonstrated significant progress in dynamic legged locomotion control, the substantial…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…
Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…
Step adjustment for humanoid robots has been shown to improve robustness in gaits. However, step duration adaptation is often neglected in control strategies. In this paper, we propose an approach that combines both step location and timing…
There is invariably a trade-off between safety and efficiency for collaborative robots (cobots) in human-robot collaborations. Robots that interact minimally with humans can work with high speed and accuracy but cannot adapt to new tasks or…
Legged robots promise higher versatility and the ability to traverse much more difficult terrains than their wheeled counterparts. Even though the use of legged robots have increased drastically in the last few years, they are still not…
Swing arms have an irreplaceable role in promoting highly dynamic locomotion on bipedal robots by a larger angular momentum control space from the viewpoint of biomechanics. Few bipedal robots utilize swing arms and its redundancy…
Achieving stable hopping has been a hallmark challenge in the field of dynamic legged locomotion. Controlled hopping is notably difficult due to extended periods of underactuation combined with very short ground phases wherein ground…
Efficient mobility and power consumption are critical for autonomous water surface robots in long-term water environmental monitoring. This study develops and evaluates a transformable mobility mechanism for a water surface robot with two…
In this paper, we present a novel control framework to achieve robust push recovery on bipedal robots while locomoting. The key contribution is the unification of hybrid system models of locomotion with a reduced-order model predictive…
Faced with complex and unstructured construction environments, wheeled and tracked robots exhibit significant limitations in terrain adaptability and flexibility, making it difficult to meet the requirements of autonomous operation.…
This MS thesis outlines my contributions to the closed loop control and system integration of two robotic platforms: 1) Aerobat, a flapping wing robot stabilized by air jets, and 2) Harpy, a bipedal robot equipped with dual thrusters. Both…
Planetary bodies characterized by low gravitational acceleration, such as the Moon and near-Earth asteroids, impose unique locomotion constraints due to diminished contact forces and extended airborne intervals. Among traversal strategies,…
Balancing oneself using the spine is a physiological alignment of the body posture in the most efficient manner by the muscular forces for mammals. For this reason, we can see many disabled quadruped animals can still stand or walk even…