Related papers: Terrain Adaptive Gait Transitioning for a Quadrupe…
In this paper, we introduce the concept of using passive arm structures with intrinsic impedance for robot-robot and human-robot collaborative carrying with quadruped robots. The concept is meant for a leader-follower task and takes a…
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 study focuses on the locomotion capability improvement in a tendon-driven soft quadruped robot through an online adaptive learning approach. Leveraging the inverse kinematics model of the soft quadruped robot, we employ a central…
Robotic cloth manipulation is a relevant challenging problem for autonomous robotic systems. Highly deformable objects as textile items can adopt multiple configurations and shapes during their manipulation. Hence, robots should not only…
This paper addresses the modeling and attitude control of jumping quadrupeds in low-gravity environments. First, a convex decomposition procedure is presented to generate high-accuracy and low-cost collision geometries for quadrupeds…
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…
A quadruped robot faces balancing challenges on a six-degrees-of-freedom moving platform, like subways, buses, airplanes, and yachts, due to independent platform motions and resultant diverse inertia forces on the robot. To alleviate these…
Tendon-Driven Continuum Robots (TDCRs) have the potential to be used in minimally invasive surgery and industrial inspection, where the robot must enter narrow and confined spaces. We propose a Model Predictive Control (MPC) approach to…
Learning has propelled the cutting edge of performance in robotic control to new heights, allowing robots to operate with high performance in conditions that were previously unimaginable. The majority of the work, however, assumes that the…
Developing table tennis robots that mirror human speed, accuracy, and ability to predict and respond to the full range of ball spins remains a significant challenge for legged robots. To demonstrate these capabilities we present a system to…
Quadruped animals seamlessly transition between gaits as they change locomotion speeds. While the most widely accepted explanation for gait transitions is energy efficiency, there is no clear consensus on the determining factor, nor on the…
This paper proposes a novel orientation-aware model predictive control (MPC) for dynamic humanoid walking that can plan footstep locations online. Instead of a point-mass model, this work uses the augmented single rigid body model (aSRBM)…
This paper aims to present a stability control strategy for quadruped robot under lateral impact with the help of lateral trot. We firstly propose five necessary conditions for keeping balance. The classical four-neuron Central Pattern…
Taking inspiration from the natural gait transition mechanism of quadrupeds, devising a good gait transition strategy is important for quadruped robots to achieve energy-efficient locomotion on various terrains and velocities. While…
Non-linear model predictive control (nMPC) is a powerful approach to control complex robots (such as humanoids, quadrupeds, or unmanned aerial manipulators (UAMs)) as it brings important advantages over other existing techniques. The…
Quadrupedal robots excel in mobility, navigating complex terrains with agility. However, their complex control systems present challenges that are still far from being fully addressed. In this paper, we introduce the use of Sample-Based…
Gait control of legged robotic walkers on dynamically moving surfaces (e.g., ships and vehicles) is challenging due to the limited balance control actuation and unknown surface motion. We present a contingent model predictive control (CMPC)…
Quadruped robots excel in traversing complex, unstructured environments where wheeled robots often fail. However, enabling efficient and adaptable locomotion remains challenging due to the quadrupeds' nonlinear dynamics, high degrees of…
The successful operation of mobile robots requires them to adapt rapidly to environmental changes. To develop an adaptive decision-making tool for mobile robots, we propose a novel algorithm that combines meta-reinforcement learning…
The ability to modify morphology in response to environmental changes represents a highly advantageous feature in biological organisms, facilitating their adaptation to diverse environmental conditions. While some robots have the capability…