Related papers: Three-dimensional bipedal model with zero-energy-c…
Reduced-order models (ROMs) provide a powerful means of synthesizing dynamic walking gaits on legged robots. Yet this approach lacks the formal guarantees enjoyed by methods that utilize the full-order model (FOM) for gait synthesis, e.g.,…
Hybrid track/wheel-legged robots combine the advantages of wheel-based and leg-based locomotion, granting adaptability across varied terrains through efficient transitions between rolling and walking modes. However, automating these…
This study explores the dynamics of asymmetrical bounding gaits in quadrupedal robots, focusing on the integration of torso pitching and hip motion to enhance speed and stability. Traditional control strategies often enforce a fixed…
Successfully achieving bipedal locomotion remains challenging due to real-world factors such as model uncertainty, random disturbances, and imperfect state estimation. In this work, we propose a novel metric for locomotive robustness -- the…
Robust and energy-efficient bipedal locomotion in robotics is still a challenging topic. In order to address issues in this field, we can take inspiration from nature, by studying human locomotion. The Spring-Loaded Inverted Pendulum (SLIP)…
While it is expected to build robotic limbs with multiple degrees of freedom (DoF) inspired by nature, a single DoF design remains fundamental, providing benefits that include, but are not limited to, simplicity, robustness,…
Hybrid systems, such as bipedal walkers, are challenging to control because of discontinuities in their nonlinear dynamics. Little can be predicted about the systems' evolution without modeling the guard conditions that govern transitions…
The remarkable athletic intelligence displayed by humans in complex dynamic movements such as dancing and gymnastics suggests that the balance mechanism in biological beings is decoupled from specific movement patterns. This decoupling…
Two dimensional modeling of collisionless shocks has been of tremendous importance in understanding the physics of the non-linear evolution, momentum transfer and particle acceleration, but current computer capacities have now reached a…
We study novel three-dimensional gapped quantum phases of matter which support quasiparticles with restricted mobility, including immobile "fracton" excitations. So far, most existing fracton models may be instructively viewed as…
A vast number of applications for legged robots entail tasks in complex, dynamic environments. But these environments put legged robots at high risk for limb damage. This paper presents an empirical study of fault tolerant dynamic gaits…
We present a framework for learning a single policy capable of producing all quadruped gaits and transitions. The framework consists of a policy trained with deep reinforcement learning (DRL) to modulate the parameters of a system of…
In this study, a chair-type asymmetric tripedal low-rigidity robot was designed based on the three-legged chair character in the movie "Suzume" and its gait was generated. Its body structure consists of three legs that are asymmetric to the…
Our paper proposes a model predictive controller as a single-task formulation that simultaneously optimizes wheel and torso motions. This online joint velocity and ground reaction force optimization integrates a kinodynamic model of a…
Crawling is a common locomotion mechanism in soft robots and nonskeletal animals. In this work we propose modeling soft-robotic legged locomotion by approximating it with an equivalent articulated robot with elastic joints. For concreteness…
We use the lattice model of directed walks to investigate the conformational as well as the adsorption properties of a semiflexible homopolymer chain immersed in a good solvent in two and three dimensions. To account for the stiffness in…
To overcome the obstructions imposed by high-dimensional bipedal models, we embed a stable walking motion in an attractive low-dimensional surface of the system's state space. The process begins with trajectory optimization to design an…
Salamander-like quadruped robots are designed inspired by the skeletal structure of their biological counterparts. However, existing controllers cannot fully exploit these morphological features and largely rely on predefined gait patterns…
We propose an online motion planner for legged robot locomotion with the primary objective of achieving energy efficiency. The conceptual idea is to leverage a placement set of footstep positions based on the robot's body position to…
In this paper, 3D humanoid walking is decoupled into periodic and transitional motion, each of which is decoupled into planar walking in the sagittal and lateral plane. Reduced order models (ROMs), i.e. actuated Spring-loaded Inverted…