Related papers: On State Estimation for Legged Locomotion over Sof…
As bipedal robots become more and more popular in commercial and industrial settings, the ability to control them with a high degree of reliability is critical. To that end, this paper considers how to accurately estimate which feet are…
Legged robots maintain dynamic feasibility through multicontact interactions with terrain. Learned foothold prediction can provide feasibility-aware costs for motion planning and path selection, but accurately predicting future contacts…
Navigating in off-road environments for wheeled mobile robots is challenging due to dynamic and rugged terrain. Traditional physics-based stability metrics, such as Static Stability Margin (SSM) or Zero Moment Point (ZMP) require knowledge…
Legged systems need to optimize contact force in order to maintain contacts. For this, the controller needs to have the knowledge of the surface geometry and how slippery the terrain is. We can use a vision system to realize the terrain,…
This paper proposes an online friction coefficient identification framework for legged robots on slippery terrain. The approach formulates the optimization problem to minimize the sum of residuals between actual and predicted states…
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.…
Legged robots have demonstrated high efficiency and effectiveness in unstructured and dynamic environments. However, it is still challenging for legged robots to achieve rapid and efficient locomotion on deformable, yielding substrates,…
Recently, reinforcement learning has become a promising and polular solution for robot legged locomotion. Compared to model-based control, reinforcement learning based controllers can achieve better robustness against uncertainties of…
Operations in hazardous environments put humans, animals, and machines at high risk for physically damaging consequences. In contrast to humans and animals, quadruped robots cannot naturally identify and adjust their locomotion to a…
Attaining animal-like legged locomotion on rough outdoor terrain with sparse foothold affordances -a primary use-case for legs vs other forms of locomotion- is a largely open problem. New advancements in control and perception have enabled…
High-frequency and accurate state estimation is crucial for biped robots. This paper presents a tightly-coupled LiDAR-Inertial-Kinematic Odometry (LIKO) for biped robot state estimation based on an iterated extended Kalman filter. Beyond…
Soft pneumatic legged robots show promise in their ability to traverse a range of different types of terrain, including natural unstructured terrain met in applications like precision agriculture. They can adapt their body morphology to the…
Robots that traverse natural terrain must interpret contact forces generated under highly dynamic conditions. However, most terrain characterization approaches rely on quasi-static assumptions that neglect velocity- and…
Extended Kalman filtering is a common approach to achieve floating base estimation of a humanoid robot. These filters rely on measurements from an Inertial Measurement Unit (IMU) and relative forward kinematics for estimating the base…
To perform complex tasks, robots must be able to interact with and manipulate their surroundings. One of the key challenges in accomplishing this is robust state estimation during physical interactions, where the state involves not only the…
Accurate state estimation is critical for legged and aerial robots operating in dynamic, uncertain environments. A key challenge lies in specifying process and measurement noise covariances, which are typically unknown or manually tuned. In…
Although haptic sensing has recently been used for legged robot localization in extreme environments where a camera or LiDAR might fail, the problem of efficiently representing the haptic signatures in a learned prior map is still open.…
The theories of aero- and hydrodynamics predict animal movement and device design in air and water through the computation of lift, drag, and thrust forces. Although models of terrestrial legged locomotion have focused on interactions with…
Legged robots need to make contact with irregular surfaces, when operating in unstructured natural terrains. Representing and perceiving these areas to reason about potential contact between a robot and its surrounding environment, is still…
Legged robots leverage ground contacts and the reaction forces they provide to achieve agile locomotion. However, uncertainty coupled with contact discontinuities can lead to failure, especially in real-world environments with unexpected…