Related papers: On State Estimation for Legged Locomotion over Sof…
State estimation for legged robots is challenging due to their highly dynamic motion and limitations imposed by sensor accuracy. By integrating Kalman filtering, optimization, and learning-based modalities, we propose a hybrid solution that…
Quadrupedal mobile robots can traverse a wider range of terrain types than their wheeled counterparts but do not perform the same on all terrain types. These robots are prone to undesirable behaviours like sinking and slipping on…
Biped robots have plenty of benefits over wheeled, quadruped, or hexapod robots due to their ability to behave like human beings in tough and non-flat environments. Deformable terrain is another challenge for biped robots as it has to deal…
Collapsing terrains, often present in search and rescue missions or planetary exploration, pose significant challenges for quadruped robots. This paper introduces a robust locomotion framework for safe navigation over unstable surfaces by…
In this paper, we introduce a novel approach to centroidal state estimation, which plays a crucial role in predictive model-based control strategies for dynamic legged locomotion. Our approach uses the Koopman operator theory to transform…
Small obstacles on the ground often lead to a fall when caught with commercial prosthetic feet. Despite some recently developed feet can actively control the ankle angle, for instance over slopes, their flat and rigid sole remains a cause…
Animals in nature combine multiple modalities, such as sight and feel, to perceive terrain and develop an understanding of how to walk on uneven terrain in a stable manner. Similarly, legged robots need to develop their ability to stably…
In this paper, we propose the "Kinetics Observer", a novel estimator addressing the challenge of state estimation for legged robots using proprioceptive sensors (encoders, IMU and force/torque sensors). Based on a Multiplicative Extended…
Despite many accomplishments by legged robot designers, state-of-the-art bipedal robots are prone to falling over, cannot negotiate extremely rough terrains and cannot directly regulate unilateral contact forces. Our objective is to…
We study the problem of bipedal robot navigation in complex environments with uncertain and rough terrain. In particular, we consider a scenario in which the robot is expected to reach a desired goal location by traversing an environment…
In this article, we propose a deep learning framework that provides a unified approach to the problem of leg contact detection in humanoid robot walking gaits. Our formulation accomplishes to accurately and robustly estimate the contact…
Humanoid robots are designed to navigate environments accessible to humans using their legs. However, classical research has primarily focused on controlled laboratory settings, resulting in a gap in developing controllers for navigating…
To traverse complex scenarios reliably a legged robot needs to move its base aided by the ground reaction forces, which can only be generated by the legs that are momentarily in contact with the ground. A proper selection of footholds is…
The ability of legged systems to traverse highly-constrained environments depends by and large on the performance of their motion and balance controllers. This paper presents a controller that excels in a scenario that most state-of-the-art…
This paper presents a contact-aided inertial-kinematic floating base estimation for humanoid robots considering an evolution of the state and observations over matrix Lie groups. This is achieved through the application of a geometrically…
Robust locomotion control depends on accurate state estimations. However, the sensors of most legged robots can only provide partial and noisy observations, making the estimation particularly challenging, especially for external states like…
The ability of bipedal robots to adapt to diverse and unstructured terrain conditions is crucial for their deployment in real-world environments. To this end, we present a novel, bio-inspired robot foot design with stabilizing tarsal…
Frictional contact has been extensively studied as the core underlying behavior of legged locomotion and manipulation, and its nearly-discontinuous nature makes planning and control difficult even when an accurate model of the robot is…
In this paper, we present a novel factor graph formulation to estimate the pose and velocity of a quadruped robot on slippery and deformable terrain. The factor graph introduces a preintegrated velocity factor that incorporates velocity…
As both legged robots and embedded compute have become more capable, researchers have started to focus on field deployment of these robots. Robust autonomy in unstructured environments requires perception of the world around the robot in…