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Faced with strong demand for robots working in underwater pipeline environments, a novel underwater multi-model locomotion robot is designed and studied in this research. By mimicking the earthworm's metameric body, the robot is segmented…
This paper proposes a safety-critical locomotion control framework employed for legged robots exploring through infeasible path in obstacle-rich environments. Our research focus is on achieving safe and robust locomotion where robots…
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…
Previous studies have successfully demonstrated agile and robust locomotion in challenging terrains for quadrupedal robots. However, the bipedal locomotion mode for quadruped robots remains unverified. This paper explores the adaptation of…
Quadrupedal locomotion plays a critical role in enabling agile, versatile movement across complex terrains. Understanding and estimating the underlying physical dynamics are essential for achieving efficient and stable quadrupedal…
Much current study of legged locomotion has rightly focused on foot traction forces, including on granular media. Future legged millirobots will need to go through terrain, such as brush or other vegetation, where the body contact forces…
Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially…
Quadrupedal animals can perform agile and playful tasks while interacting with real-world objects. For instance, a trained dog can track and catch a flying frisbee before it touches the ground, while a cat left alone at home may leap to…
Achieving safe quadrupedal locomotion in real-world environments has attracted much attention in recent years. When walking over uneven terrain, achieving reliable estimation and realising safety-critical control based on the obtained…
In this paper, we examine the problem of push recovery for bipedal robot locomotion and present a reactive decision-making and robust planning framework for locomotion resilient to external perturbations. Rejecting perturbations is an…
Nowadays, robots are increasingly operated in environments shared with humans, where conflicts between human and robot behaviors may compromise safety. This paper presents a proactive behavioral conflict avoidance framework based on the…
Developing natural and diverse locomotion controllers for quadruped robots that can adapt to complex terrains while preserving motion style remains a significant challenge. Existing imitation-based methods face a fundamental optimization…
In the context of legged robots, adaptive behavior involves adaptive balancing and adaptive swing foot reflection. While adaptive balancing counteracts perturbations to the robot, adaptive swing foot reflection helps the robot to navigate…
We have developed biped robots with a passive dynamic walking mechanism. This study proposes a compass model with a wobbling mass connected to the upper body and oscillating in the horizontal direction to clarify the influence of the…
Loco-manipulation of quadrupedal robots has broadened robotic applications, but using legs as manipulators often compromises locomotion, while mounting arms complicates the system. To mitigate this issue, we introduce bipedalism for…
Adaptive morphogenetic robots adapt their morphology and control policies to meet changing tasks and environmental conditions. Many such systems leverage soft components, which enable shape morphing but also introduce simulation and control…
Hybrid locomotion of wheeled-legged robots has recently attracted increasing attention due to their advantages of combining the agility of legged locomotion and the efficiency of wheeled motion. But along with expanded performance, the…
Locomotion by shape changes (spermatozoon swimming, snake slithering, bird flapping) or gas expulsion (rocket firing) is assumed to require environmental interaction, due to conservation of momentum. As first noted in (Wisdom, 2003) and…
As mobile robots become useful performing everyday tasks in complex real-world environments, they must be able to traverse a range of difficult terrain types such as stairs, stepping stones, gaps, jumps and narrow passages. This work…
Legged manipulators extend robotic capabilities beyond static manipulation by integrating agile locomotion with versatile arm control. However, achieving precise manipulation while maintaining coordinated locomotion remains a major…