Related papers: Three-dimensional bipedal model with zero-energy-c…
This paper presents a novel contact-implicit trajectory optimization method using an analytically solvable contact model to enable planning of interactions with hard, soft, and slippery environments. Specifically, we propose a novel contact…
Energy efficiency is a critical factor in the performance and autonomy of quadrupedal robots. While previous research has focused on mechanical design and actuation improvements, the impact of gait parameters on energetics has been less…
This article describes a bipedal walking algorithm with inverse kinematics resolution based solely on geometric methods, so that all mathematical concepts are explained from the base, in order to clarify the reason for this solution. To do…
Step adjustment can improve the gait robustness of biped robots, however the adaptation of step timing is often neglected as it gives rise to non-convex problems when optimized over several footsteps. In this paper, we argue that it is not…
In this paper, we propose a novel framework capable of generating various walking and running gaits for bipedal robots. The main goal is to relax the fixed center of mass (CoM) height assumption of the linear inverted pendulum model (LIPM)…
We revisit the problem of the three-soliton collisions in the weakly perturbed sine-Gordon equation and develop an effective three-particle model allowing to explain many interesting features observed in numerical simulations of the soliton…
We consider a classical spring-mass model of human running which is built upon an inverted elastic pendulum. Based on our previous results concerning asymptotic solutions for large spring constant (or small angle of attack), we construct…
Underactuation is ubiquitous in human locomotion and should be ubiquitous in bipedal robotic locomotion as well. This chapter presents a coherent theory for the design of feedback controllers that achieve stable walking gaits in…
With inspiration from arthropods' exoskeletons, we designed a simple, easily manufactured, semi-rigid structure with flexible joints that can passively damp impact energy. This exoskeleton fuses the protective shell to the main robot…
Multi-legged robots with six or more legs are not in common use, despite designs with superior stability, maneuverability, and a low number of actuators being available for over 20 years. This may be in part due to the difficulty in…
Human beings can utilize multiple balance strategies, e.g. step location adjustment and angular momentum adaptation, to maintain balance when walking under dynamic disturbances. In this work, we propose a novel Nonlinear Model Predictive…
Practical bipedal robot locomotion needs to be both energy efficient and robust to variability and uncertainty. In this paper, we build upon recent works in trajectory optimization for robot locomotion with two primary goals. First, we wish…
Legged locomotion involves various gaits. It has been observed that fast running insects (cockroaches) employ a tripod gait with three legs lifted off the ground simultaneously in swing, while slow walking insects (stick insects) use a…
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…
In this paper we present a new approach for dynamic motion planning for legged robots. We formulate a trajectory optimization problem based on a compact form of the robot dynamics. Such a form is obtained by projecting the rigid body…
Animals achieve robust locomotion by offloading regulation from the brain to physical couplings within the body. In contrast, locomotion in artificial systems often depends on centralized processors. We introduce a rapid and autonomous…
In this paper, an approach for gait assistance with a lower body exoskeleton is described. Two concepts, transparency and motion assistance, are combined. The transparent mode, where the system is following the user's free motion with a…
In legged locomotion, the relationship between different gait behaviors and energy consumption must consider the full-body dynamics and the robot control as a whole, which cannot be captured by simple models. This work studies the robot…
Local dynamic stability (LDS) quantifies how a system responds to small perturbations. Several experimental and clinical findings have highlighted the association between gait LDS and fall risk. Walking without shoes is known to slightly…
The Extra Robotic Legs (XRL) system is a robotic augmentation worn by a human operator consisting of two articulated robot legs that walk with the operator and help bear a heavy backpack payload. It is desirable for the Human-XRL quadruped…