Related papers: ReQuBiS -- Reconfigurable Quadrupedal-Bipedal Snak…
In both animals and robots, locomotion capabilities are determined by the physical structure of the system. The majority of legged animals and robots are bilaterally symmetric, which facilitates locomotion with consistent headings and…
When operating at their full capacity, quadrupedal robots can produce loud footstep noise, which can be disruptive in human-centered environments like homes, offices, and hospitals. As a result, balancing locomotion performance with noise…
Quadrupedal robots have emerged as a cutting-edge platform for assisting humans, finding applications in tasks related to inspection and exploration in remote areas. Nevertheless, their floating base structure renders them susceptible to…
This paper studies jumping for wheeled-bipedal robots, a motion that takes full advantage of the benefits from the hybrid wheeled and legged design features. A comprehensive hierarchical scheme for motion planning and control of jumping…
Various pipes are extensively used in both industrial settings and daily life, but the pipe inspection especially those with narrow sizes are still very challenging with tremendous time and manufacturing consumed. Quadrupedal robots,…
This paper introduces a new type of soft continuum robot, called SCoReS, which is capable of self-controlling continuously its curvature at the segment level; in contrast to previous designs which either require external forces or machine…
In this paper, we present STRIDE, a Simple, Terrestrial, Reconfigurable, Intelligent, Dynamic, and Educational bipedal platform. STRIDE aims to propel bipedal robotics research and education by providing a cost-effective implementation with…
In this paper, we propose a novel approach on controlling wheel-legged quadrupedal robots using pose optimization and force control via quadratic programming (QP). Our method allows the robot to leverage the whole-body motion and the wheel…
Multi-legged elongate robots hold promise for maneuvering through complex environments. Prior work has demonstrated that reliable locomotion can be achieved using open-loop body undulation and foot placement on rugose terrain. However,…
As a single-track mobile platform, bikebot (i.e., bicycle-based robot) has attractive navigation capability to pass through narrow, off-road terrain with high-speed and high-energy efficiency. However, running crossing step-like obstacles…
We give both efficient algorithms and hardness results for reconfiguring between two connected configurations of modules in the hexagonal grid. The reconfiguration moves that we consider are "pivots", where a hexagonal module rotates around…
Performing agile navigation with four-legged robots is a challenging task due to the highly dynamic motions, contacts with various parts of the robot, and the limited field of view of the perception sensors. In this paper, we propose a…
This paper addresses the design and development of an autonomous biped robot using master and worker combination of controllers. In addition, the bot is wirelessly controllable. The work presented here explains the walking pattern, system…
Soft robotic snakes made of compliant materials can continuously deform their bodies and, therefore, mimic the biological snakes' flexible and agile locomotion gaits better than their rigid-bodied counterparts. Without wheel support, to…
This work explores an innovative algorithm designed to enhance the mobility of underactuated bipedal robots across challenging terrains, especially when navigating through spaces with constrained opportunities for foot support, like steps…
Quadruped robots have shown remarkable mobility on various terrains through reinforcement learning. Yet, in the presence of sparse footholds and risky terrains such as stepping stones and balance beams, which require precise foot placement…
Legged robots have the potential to become vital in maintenance, home support, and exploration scenarios. In order to interact with and manipulate their environments, most legged robots are equipped with a dedicated robot arm, which means…
Bipedal robots are a prime example of systems which exhibit highly nonlinear dynamics, underactuation, and undergo complex dissipative impacts. This paper discusses methods used to overcome a wide variety of uncertainties, with the end…
Deep reinforcement learning has seen successful implementations on humanoid robots to achieve dynamic walking. However, these implementations have been so far successful in simple environments void of obstacles. In this paper, we aim to…
Synthesizing a stable gait that enables a quadruped robot to climb stairs is the focus of this paper. To this end, first a stable transition from initial to desired configuration is made based on the minimum number of steps and maximum use…