Related papers: Bio-inspired Rhythmic Locomotion in a Six-Legged R…
Learning multiple gaits is non-trivial for legged robots, especially when encountering different terrains and velocity commands. In this work, we present an end-to-end training framework for learning multiple gaits for quadruped robots,…
Teleoperated humanoid robots hold significant potential as physical avatars for humans in hazardous and inaccessible environments, with the goal of channeling human intelligence and sensorimotor skills through these robotic counterparts.…
This paper presents a control framework that combines model-based optimal control and reinforcement learning (RL) to achieve versatile and robust legged locomotion. Our approach enhances the RL training process by incorporating on-demand…
Modern Reinforcement Learning (RL) algorithms promise to solve difficult motor control problems directly from raw sensory inputs. Their attraction is due in part to the fact that they can represent a general class of methods that allow to…
Movement in biology is often achieved with distributed control of coupled subcomponents, e.g. muscles and limbs. Coupling could range from weak and local, i.e. decentralized, to strong and global, i.e. centralized. We developed a model-free…
Localization in the environment is an essential navigational capability for animals and mobile robots. In the indoor environment, the global localization problem remains challenging to be perfectly solved with probabilistic methods.…
Pipelines, vital for fluid transport, pose an important yet challenging inspection task, particularly in small, flexible biological systems, that robots have yet to master. In this study, we explored the development of an innovative robot…
Humanoid robots often face significant balance issues due to the motion of their heavy limbs. These challenges are particularly pronounced when attempting dynamic motion or operating in environments with irregular terrain. To address this…
Legged robot research is presently focused on bipedal or quadrupedal robots, despite capabilities to build robots with many more legs to potentially improve locomotion performance. This imbalance is not necessarily due to hardware…
Although commonly associated with limbless animals like snakes and fish, multi-legged organisms like centipedes also utilize undulatory locomotion. Whether these undulations are actively reinforced or resisted by the axial musculature…
In contrast with the diversity of materials found in nature, most robots are designed with some combination of aluminum, stainless steel, and 3D-printed filament. Additionally, robotic systems are typically assumed to follow basic…
Learning highly dynamic behaviors for robots has been a longstanding challenge. Traditional approaches have demonstrated robust locomotion, but the exhibited behaviors lack diversity and agility. They employ approximate models, which lead…
In this paper, we examine the problem of push recovery for bipedal robot locomotion and present a reactive decision-making and robust planning framework for locomotion resilient to external perturbations. Rejecting perturbations is an…
Quadrupedal robots have played a crucial role in various environments, from structured environments to complex harsh terrains, thanks to their agile locomotion ability. However, these robots can easily lose their locomotion functionality if…
Designing a mechanism to mimic the motion of a common house gecko is the objective of this work. The body of the robot is designed using four five-bar mechanisms (2-RRRRR and 2-RRPRR) and the leg is designed using four four-bar mechanisms.…
Back injuries are the most prevalent work-related musculoskeletal disorders and represent a major cause of disability. Although innovations in wearable robots aim to alleviate this hazard, the majority of existing exoskeletons are obtrusive…
While the animals' Fin-to-Limb evolution has been well-researched in biology, such morphological transformation remains under-adopted in the modern design of advanced robotic limbs. This paper investigates a novel class of overconstrained…
Inspired by biological motion generation, central pattern generators (CPGs) is frequently employed in legged robot locomotion control to produce natural gait pattern with low-dimensional control signals. However, the limited adaptability…
Recent trends in humanoid robot control have successfully employed imitation learning to enable the learned generation of smooth, human-like trajectories from human data. While these approaches make more realistic motions possible, they are…
Space robots have played a critical role in autonomous maintenance and space junk removal. Multi-arm space robots can efficiently complete the target capture and base reorientation tasks due to their flexibility and the collaborative…