Related papers: Line Walking and Balancing for Legged Robots with …
The heavy-load legged robot has strong load carrying capacity and can adapt to various unstructured terrains. But the large weight results in higher requirements for motion stability and environmental perception ability. In order to utilize…
Legged robots, particularly quadrupeds, excel at navigating rough terrains, yet their performance under vertical ground perturbations, such as those from oscillating surfaces, remains underexplored. This study introduces a novel approach to…
This paper aims for a controller that can stabilize a position-controlled humanoid robot when standing still or walking on synthetic grass even when subjected to external disturbances. Two types of controllers are designed and implemented:…
Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a…
Quadrupedal manipulators require to be compliant when dealing with external forces during autonomous manipulation, tele-operation or physical human-robot interaction. This paper presents a whole-body controller that allows for the…
Parkour is a grand challenge for legged locomotion, even for quadruped robots, requiring active perception and various maneuvers to overcome multiple challenging obstacles. Existing methods for humanoid locomotion either optimize a…
A quadruped robot is a promising system that can offer assistance comparable to that of dog guides due to its similar form factor. However, various challenges remain in making these robots a reliable option for blind and low-vision (BLV)…
In this work, we demonstrate robust walking in the bipedal robot Digit on uneven terrains by just learning a single linear policy. In particular, we propose a new control pipeline, wherein the high-level trajectory modulator shapes the…
Designing robots capable of traversing uneven terrain and overcoming physical obstacles has been a longstanding challenge in the field of robotics. Walking robots show promise in this regard due to their agility, redundant DOFs and…
Most humanoid robots have highly complicated structure and design of robots that are very similar to human is extremely difficult. In this paper, modelling of a general and comprehensive algorithm for control of humanoid robots is presented…
Whole-body Control (WBC) has emerged as an important framework in locomotion control for legged robots. However, most of WBC frameworks fail to generalize beyond rigid terrains. Legged locomotion over soft terrain is difficult due to the…
Amphibious legged robots inspired by salamanders are promising in applications in complex amphibious environments. However, despite the significant success of training controllers that achieve diverse locomotion behaviors in conventional…
The integration of Supernumerary Limbs (SLs) on humanoid robots poses a significant stability challenge due to the dynamic perturbations they introduce. This thesis addresses this issue by designing a novel hierarchical control architecture…
In recent years, legged and wheeled-legged robots have gained prominence for tasks in environments predominantly created for humans across various domains. One significant challenge faced by many of these robots is their limited capability…
Advances in legged robotics are strongly rooted in animal observations. A clear illustration of this claim is the generalization of Central Pattern Generators (CPG), first identified in the cat spinal cord, to generate cyclic motion in…
Legged robots have shown remarkable advantages in navigating uneven terrain. However, realizing effective locomotion and manipulation tasks on quadruped robots is still challenging. In addition, object and terrain parameters are generally…
This paper contributes towards the benchmarking of control architectures for bipedal robot locomotion. It considers architectures that are based on the Divergent Component of Motion (DCM) and composed of three main layers: trajectory…
Navigating rugged landscapes poses significant challenges for legged locomotion. Multi-legged robots (those with 6 and greater) offer a promising solution for such terrains, largely due to their inherent high static stability, resulting…
Gaits and transitions are key components in legged locomotion. For legged robots, describing and reproducing gaits as well as transitions remain longstanding challenges. Reinforcement learning has become a powerful tool to formulate…
This work is on vision-based planning strategies for legged robots that separate locomotion planning into foothold selection and pose adaptation. Current pose adaptation strategies optimize the robot's body pose relative to given footholds.…