Related papers: Autonomous Navigation for Quadrupedal Robots with …
This paper presents an optimal motion planning framework to generate versatile energy-optimal quadrupedal jumping motions automatically (e.g., flips, spin). The jumping motions via the centroidal dynamics are formulated as a 12-dimensional…
Dynamic jumping with legged robots poses a challenging problem in planning and control. Formulating the jump optimization to allow fast online execution is difficult; efficiently using this capability to generate long-horizon motion plans…
Navigating a large-scaled robot in unknown and cluttered height-constrained environments is challenging. Not only is a fast and reliable planning algorithm required to go around obstacles, the robot should also be able to change its…
Exploring the limits of quadruped robot agility, particularly in the context of rapid and real-time planning and execution of omnidirectional jump trajectories, presents significant challenges due to the complex dynamics involved,…
This work presents a two part framework for online planning and execution of dynamic aerial motions on a quadruped robot. Motions are planned via a centroidal momentum-based nonlinear optimization that is general enough to produce rich sets…
In this paper, we consider a general task of jumping varying distances and heights for a quadrupedal robot in noisy environments, such as off of uneven terrain and with variable robot dynamics parameters. To accurately jump in such…
High-speed legged navigation in discrete and geometrically complex environments is a challenging task because of the high-degree-of-freedom dynamics and long-horizon, nonconvex nature of the optimization problem. In this work, we propose a…
Wheeled-legged robots have the potential for highly agile and versatile locomotion. The combination of legs and wheels might be a solution for any real-world application requiring rapid, and long-distance mobility skills on challenging…
Natural terrain complexity often necessitates agile movements like jumping in animals to improve traversal efficiency. To enable similar capabilities in quadruped robots, complex real-time jumping maneuvers are required. Current research…
This paper presents a safety-critical locomotion control framework for quadrupedal robots. Our goal is to enable quadrupedal robots to safely navigate in cluttered environments. To tackle this, we introduce exponential Discrete Control…
The popularity of mobile robots has been steadily growing, with these robots being increasingly utilized to execute tasks previously completed by human workers. For bipedal robots to see this same success, robust autonomous navigation…
Quadrupedal wheeled-legged robots combine the advantages of legged and wheeled locomotion to achieve superior mobility, but executing dynamic jumps remains a significant challenge due to the additional degrees of freedom introduced by…
Robots are increasingly integrated across industries, particularly in healthcare. However, many valuable applications for quadrupedal robots remain overlooked. This research explores the effectiveness of three reinforcement learning…
This paper presents a study on the development of an obstacle-avoidance navigation system for autonomous navigation in home environments. The system utilizes vision-based techniques and advanced path-planning algorithms to enable the robot…
Outdoor navigation on sidewalks in urban environments is the key technology behind important human assistive applications, such as last-mile delivery or neighborhood patrol. This paper aims to develop a quadruped robot that follows a route…
This paper studies capturability and push recovery for quadrupedal locomotion. Despite the rich literature on capturability analysis and push recovery control for legged robots, existing tools are developed mainly for bipeds or humanoids.…
In this work we present a trajectory Optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automatically discover different gaits and dynamic motions on a…
We present Visual Navigation and Locomotion over obstacles (ViNL), which enables a quadrupedal robot to navigate unseen apartments while stepping over small obstacles that lie in its path (e.g., shoes, toys, cables), similar to how humans…
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…
This paper proposes a novel method of coverage path planning for the purpose of scanning an unstructured environment autonomously. The method uses the morphological skeleton of the prior 2D navigation map via SLAM to generate a sequence of…