Related papers: Dynamic Humanoid Locomotion over Uneven Terrain Wi…
In this paper, we present a novel control architecture for the online adaptation of bipedal locomotion on inclined obstacles. In particular, we introduce a novel, cost-effective, and versatile foot sensor to detect the proximity of the…
This study proposes a step adaptation framework for running through spring-mass trajectories and deadbeat control gain libraries. It includes four main parts: (1) Automatic spring-mass trajectory library generation; (2) Deadbeat control…
Collision-free planning is essential for bipedal robots operating within unstructured environments. This paper presents a real-time Model Predictive Control (MPC) framework that addresses both body and foot avoidance for dynamic bipedal…
Humans excel at robust bipedal walking in complex natural environments. In each step, they adequately tune the interaction of biomechanical muscle dynamics and neuronal signals to be robust against uncertainties in ground conditions.…
In this paper, we deal with the problem of full-body path planning for walking robots. The state of walking robots is defined in multi-dimensional space. Path planning requires defining the path of the feet and the robot's body. Moreover,…
Limitations in actuation, sensing, and computation have forced small legged robots to rely on carefully tuned, mechanically mediated leg trajectories for effective locomotion. Recent advances in manufacturing, however, have enabled the…
Recent advances in quadrupedal robots have demonstrated impressive agility and the ability to traverse diverse terrains. However, hardware issues, such as motor overheating or joint locking, may occur during long-distance walking or…
Human locomotion involves continuously variable activities including walking, running, and stair climbing over a range of speeds and inclinations as well as sit-stand, walk-run, and walk-stairs transitions. Understanding the kinematics and…
Humanoid robots, designed to operate in human-centric environments, serve as a fundamental platform for a broad range of tasks. Although humanoid robots have been extensively studied for decades, a majority of existing humanoid robots still…
Animals are capable of precise and agile locomotion using vision. Replicating this ability has been a long-standing goal in robotics. The traditional approach has been to decompose this problem into elevation mapping and foothold planning…
Performing agile navigation with four-legged robots is a challenging task due to the highly dynamic motions, contacts with various parts of the robot, and the limited field of view of the perception sensors. In this paper, we propose a…
Available possibilities to prevent a biped robot from falling down in the presence of severe disturbances are mainly Center of Pressure (CoP) modulation, step location and timing adjustment, and angular momentum regulation. In this paper,…
This paper presents a Non-Linear Model Predictive Controller for humanoid robot locomotion with online step adjustment capabilities. The proposed controller considers the Centroidal Dynamics of the system to compute the desired contact…
Humanoid robots rely on multi-contact planners to navigate a diverse set of environments, including those that are unstructured and highly constrained. To synthesize stable multi-contact plans within a reasonable time frame, most planners…
Robust humanoid stair climbing remains challenging due to geometric discontinuities, sensitivity to step height variations, and perception uncertainty in real-world environments. Existing learning-based locomotion policies often rely on…
Legged robots that can operate autonomously in remote and hazardous environments will greatly increase opportunities for exploration into under-explored areas. Exteroceptive perception is crucial for fast and energy-efficient locomotion:…
As humanoid robots enter real-world environments, ensuring robust locomotion across diverse environments is crucial. This paper presents a computationally efficient hierarchical control framework for humanoid robot locomotion based on…
Legged robots are able to navigate complex terrains by continuously interacting with the environment through careful selection of contact sequences and timings. However, the combinatorial nature behind contact planning hinders the…
The application of biomechanic and motor control models in the control of bidedal robots (humanoids, and exoskeletons) has revealed limitations of our understanding of human locomotion. A recently proposed model uses the potential energy…
Traversing rough terrain requires dynamic bipeds to stabilize themselves through foot placement without stepping in unsafe areas. Planning these footsteps online is challenging given non-convexity of the safe terrain, and imperfect…