Related papers: A Legged Soft Robot Platform for Dynamic Locomotio…
Soft robotic manipulators are generally slow despite their great adaptability, resilience, and compliance. This limitation also extends to current soft robotic micromanipulators. Here, we introduce FilMBot, a 3-DOF film-based,…
A distinctive feature of quadrupeds that is integral to their locomotion is the tail. Tails serve many purposes in biological systems including propulsion, counterbalance, and stabilization while walking, running, climbing, or jumping.…
Wheeled bipedal robots have garnered increasing attention in exploration and inspection. However, most research simplifies calculations by ignoring leg dynamics, thereby restricting the robot's full motion potential. Additionally, robots…
The deformable and continuum nature of soft robots promises versatility and adaptability. However, control of modular, multi-limbed soft robots for terrestrial locomotion is challenging due to the complex robot structure, actuator mechanics…
This paper presents a system for enabling real-time synthesis of whole-body locomotion and manipulation policies for real-world legged robots. Motivated by recent advancements in robot simulation, we leverage the efficient parallelization…
Many marine creatures, gastropods, and earthworms generate continuous traveling waves in their bodies for locomotion within marine environments, complex surfaces, and inside narrow gaps. In this work, we study theoretically and…
Due to their ability to move without sliding relative to their environment, soft growing robots are attractive for deploying distributed sensor networks in confined spaces. Sensing of the state of such robots would also add to their…
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…
As an emerging field of robotics, magnetic-field-controlled soft microrobot has broad application prospects for its flexibility, locomotion diversity as well as remote controllability. Magnetic soft microrobots can perform multimodal…
This paper describes a 2D and 3D simulation engine that quantitatively models the statics, dynamics, and non-linear deformation of heterogeneous soft bodies in a computationally efficient manner. There is a large body of work simulating…
Developing agile behaviors for legged robots remains a challenging problem. While deep reinforcement learning is a promising approach, learning truly agile behaviors typically requires tedious reward shaping and careful curriculum design.…
We introduce a robust control architecture for the whole-body motion control of torque controlled robots with arms and legs. The method is based on the robust control of contact forces in order to track a planned Center of Mass trajectory.…
Inspired by the snap-through action of a steel hairclip, we propose a design method for in-plane prestressed mechanisms that exhibit biomimetic morphing and high locomotion performance. Compliant bistable flapping mechanisms are fabricated…
This paper presents Stanford Doggo, a quasi-direct-drive quadruped capable of dynamic locomotion. This robot matches or exceeds common performance metrics of state-of-the-art legged robots. In terms of vertical jumping agility, a measure of…
The development of versatile robots capable of traversing challenging and irregular environments is of increasing interest in the field of robotics, and metameric robots have been identified as a promising solution due to their slender,…
Back injuries are the most prevalent work-related musculoskeletal disorders and represent a major cause of disability. Although innovations in wearable robots aim to alleviate this hazard, the majority of existing exoskeletons are obtrusive…
Multimodal locomotion capability is an emerging topic in robotics field, and various novel mobile robots have been developed to enable the maneuvering in both terrestrial and aerial domains. Among these hybrid robots, several…
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…
In this paper, we present a general learning framework for controlling a quadruped robot that can mimic the behavior of real animals and traverse challenging terrains. Our method consists of two steps: an imitation learning step to learn…
Snake robots are characterized by their ability to navigate through small spaces and loose terrain by utilizing efficient cyclic forms of locomotion. Soft snake robots are a subset of these robots which utilize soft, compliant actuators to…