Related papers: Geometric Heat Flow Method for Legged Locomotion P…
Elongate animals and robots use undulatory body waves to locomote through diverse environments. Geometric mechanics provides a framework to model and optimize such systems in highly damped environments, connecting a prescribed shape change…
Humanoid robots deployed in industrial environments are required to perform load-carrying transportation tasks that tightly couple locomotion and manipulation. However, achieving stable and robust locomotion under varying payloads and…
This study presents a theoretical framework for planning and controlling agile bipedal locomotion based on robustly tracking a set of non-periodic apex states. Based on the prismatic inverted pendulum model, we formulate a hybrid…
Computing stabilizing and optimal control actions for legged locomotion in real time is difficult due to the nonlinear, hybrid, and high dimensional nature of these robots. The hybrid nature of the system introduces a combination of…
To dynamically traverse challenging terrain, legged robots need to continually perceive and reason about upcoming features, adjust the locations and timings of future footfalls and leverage momentum strategically. We present a pipeline that…
Whole-body optimizers have been successful at automatically computing complex dynamic locomotion behaviors. However they are often limited to offline planning as they are computationally too expensive to replan with a high frequency.…
Humanoid robots are increasingly demanded to operate in interactive and human-surrounded environments while achieving sophisticated locomotion and manipulation tasks. To accomplish these tasks, roboticists unremittingly seek for advanced…
Legged robots have the potential to traverse complex terrain and access confined spaces beyond the reach of traditional platforms thanks to their ability to carefully select footholds and flexibly adapt their body posture while walking.…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
This work developed a learning framework for perceptive legged locomotion that combines visual feedback, proprioceptive information, and active gait regulation of foot-ground contacts. The perception requires only one forward-facing camera…
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…
Legged locomotion is a highly promising but under-researched subfield within the field of soft robotics. The compliant limbs of soft-limbed robots offer numerous benefits, including the ability to regulate impacts, tolerate falls, and…
Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility constraints to be included in a Single Rigid Body Dynamicsbased…
Continuum robots with floating bases demonstrate exceptional operational capabilities in confined spaces, such as those encountered in medical surgeries and equipment maintenance. However, developing low-cost solutions for their motion and…
This paper combines the fast Zero-Moment-Point (ZMP) approaches that work well in practice with the broader range of capabilities of a Trajectory Optimization formulation, by optimizing over body motion, footholds and Center of Pressure…
Generating robust locomotion for a humanoid robot in the presence of disturbances is difficult because of its high number of degrees of freedom and its unstable nature. In this paper, we used the concept of Divergent Component of…
This paper focuses on the motion planning for mobile robots in 3D, which are modelled by 6-DOF rigid body systems with nonholonomic kinematics constraints. We not only specify the target position, but also bring in the requirement of the…
We present a novel receding-horizon multi-contact motion planner for legged robots in challenging scenarios, able to plan motions such as chimney climbing, navigating very narrow passages or crossing large gaps. Our approach adds new…
Planning locomotion trajectories for legged microrobots is challenging because of their complex morphology, high frequency passive dynamics, and discontinuous contact interactions with their environment. Consequently, such research is often…
Manipulators can be added to legged robots, allowing them to interact with and change their environment. Legged mobile manipulation planners must consider how contact forces generated by these manipulators affect the system. Current…