Related papers: Online Dynamic Motion Planning and Control for Whe…

This paper introduces a new wheel-legged robot and develops motion controllers based on central pattern generators (CPGs) for the robot to navigate over a range of terrains. A transformable leg-wheel design is considered and characterized…

An effective 3D stepping control algorithm that is computationally fast, robust, and easy to implement is extremely important and valuable to character animation research. In this paper, we present a novel technique for generating dynamic,…

Model-based planning in robotic domains is challenged by the hybrid nature of physical dynamics, where continuous motion is punctuated by discrete events such as contacts and impacts. Conventional latent world models typically employ…

Demonstrating acrobatic behavior of a humanoid robot such as flips and spinning jumps requires systematic approaches across hardware design, motion planning, and control. In this paper, we present a new humanoid robot design, an…

Motion mimicking, i.e., encouraging the control policy to mimic human motion, facilitates the learning of complex tasks via reinforcement learning (RL) for humanoid robots. Although standard RL frameworks demonstrate impressive locomotion…

This work demonstrates a front-flip on bicycle robots via reinforcement learning, particularly by imitating reference motions that are infeasible and imperfect. To address this, we propose Iterative Motion Imitation(IMI), a method that…

Hybrid systems theory has become a powerful approach for designing feedback controllers that achieve dynamically stable bipedal locomotion, both formally and in practice. This paper presents an analytical framework 1) to address…

In this paper, we examine the problem of push recovery for bipedal robot locomotion and present a reactive decision-making and robust planning framework for locomotion resilient to external perturbations. Rejecting perturbations is an…

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 the area of bipedal locomotion, the spring loaded inverted pendulum (SLIP) model has been proposed as a unified framework to explain the dynamics of a wide variety of gaits. In this paper, we present a novel analysis of the mathematical…

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…

In this letter, we present tightly coupled LiDAR-IMU-leg odometry, which is robust to challenging conditions such as featureless environments and deformable terrains. We developed an online learning-based leg kinematics model named the…

Models of bipedal locomotion are hybrid, with a continuous component often generated by a Lagrangian plus actuators, and a discrete component where leg transfer takes place. The discrete component typically consists of a locally embedded…

We introduce HCLM, a hierarchical framework for general-purpose cooperative loco-manipulation with dual quadrupedal systems. Coordinating multi-robot collaborative manipulation across floating bases is highly challenging due to the…

Generating dynamic motions for legged robots remains a challenging problem. While reinforcement learning has achieved notable success in various legged locomotion tasks, producing highly dynamic behaviors often requires extensive reward…

This paper proposes a novel online motion planning approach to robot navigation based on nonlinear model predictive control. Common approaches rely on pure Euclidean optimization parameters. In robot navigation, however, state spaces often…

Legged robots have achieved impressive feats in dynamic locomotion in challenging unstructured terrain. However, in entertainment applications, the design and control of these robots face additional challenges in appealing to human…

Traditional motion planning approaches for multi-legged locomotion divide the problem into several stages, such as contact search and trajectory generation. However, reasoning about contacts and motions simultaneously is crucial for the…

Complex motions for robots are frequently generated by switching among a collection of individual movement primitives. We use this approach to formulate robot motion plans as sequences of primitives to be executed one after the other. When…

Although bipedal locomotion provides the ability to traverse unstructured environments, it requires careful planning and control to safely walk across without falling. This poses an integrated challenge for the robot to perceive, plan, and…