Related papers: Optimizing Gait Libraries via a Coverage Metric

Performing trajectory design for humanoid robots with high degrees of freedom is computationally challenging. The trajectory design process also often involves carefully selecting various hyperparameters and requires a good initial guess…

Legged robots have demonstrated remarkable agility on rigid, stationary ground, but their locomotion reliability remains limited in non-inertial environments, where the supporting ground moves, tilts, or accelerates. Such conditions arise…

Robotic-assisted dressing has the potential to significantly aid both patients as well as healthcare personnel, reducing the workload and improving the efficiency in clinical settings. While substantial progress has been made in robotic…

Parkour presents a highly challenging task for legged robots, requiring them to traverse various terrains with agile and smooth locomotion. This necessitates comprehensive understanding of both the robot's own state and the surrounding…

Robotic grasping presents a difficult motor task in real-world scenarios, constituting a major hurdle to the deployment of capable robots across various industries. Notably, the scarcity of data makes grasping particularly challenging for…

Gait, the manner of walking, has been proven to be a reliable biometric with uses in surveillance, marketing and security. A promising new direction for the field is training gait recognition systems without explicit human annotations,…

Legged robots have enormous potential in their range of capabilities, from navigating unstructured terrains to high-speed running. However, designing robust controllers for highly agile dynamic motions remains a substantial challenge for…

Recently, biped robot walking technology has been significantly developed, mainly in the context of a bland walking scheme. To emulate human walking, robots need to step on the positions they see in unknown spaces accurately. In this paper,…

High-velocity dynamic actions (e.g., fling or throw) play a crucial role in our everyday interaction with deformable objects by improving our efficiency and effectively expanding our physical reach range. Yet, most prior works have tackled…

Thanks to recent technological advances, it is now possible to track with an unprecedented precision and for long periods of time the movement patterns of many living organisms in their habitat. The increasing amount of data available on…

This research considers the task of evolving the physical structure of a robot to enhance its performance in various environments, which is a significant problem in the field of Evolutionary Robotics. Inspired by the fields of evolutionary…

Applications of safety, security, and rescue in robotics, such as multi-robot target tracking, involve the execution of information acquisition tasks by teams of mobile robots. However, in failure-prone or adversarial environments, robots…

In this paper, we address the development of a robotic rehabilitation system for the upper limbs based on collaborative end-effector solutions. The use of commercial collaborative robots offers significant advantages for this task, as they…

Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system,…

Optimizing gait stability for legged robots is a difficult problem. Even on level surfaces, effectively traversing across different textures (e.g., carpet) rests on dynamically tuning parameters in multidimensional space. Inspired by…

Model predictive control (MPC) has shown great success for controlling complex systems such as legged robots. However, when closing the loop, the performance and feasibility of the finite horizon optimal control problem (OCP) solved at each…

Towards the role of humanoid robots as squad mates in urban operations and other domains, we identified doors as a major area lacking capability development. In this paper, we focus on the ability of humanoid robots to navigate and deal…

We begin this paper by presenting our approach to robot manipulation, which emphasizes the benefits of making contact with the world across the entire manipulator. We assume that low contact forces are benign, and focus on the development…

The objective of this work is to augment the basic abilities of a robot by learning to use sensorimotor primitives to solve complex long-horizon manipulation problems. This requires flexible generative planning that can combine primitive…

The complexity of a legged robot's environment or task can inform how specialised its gait must be to ensure success. Evolving specialised robotic gaits demands many evaluations - acceptable for computer simulations, but not for physical…