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This paper addresses the challenges of distributed formation control in multiple mobile robots, introducing a novel approach that enhances real-world practicability. We first introduce a distributed estimator using a variable structure and…
Developing robust vision-guided controllers for quadrupedal robots in complex environments, with various obstacles, dynamical surroundings and uneven terrains, is very challenging. While Reinforcement Learning (RL) provides a promising…
Quadruped robots are proliferating in industrial environments where they carry sensor payloads and serve as autonomous inspection platforms. Despite the advantages of legged robots over their wheeled counterparts on rough and uneven…
Hybrid systems theory has become a powerful approach for designing feedback controllers that achieve dynamically stable bipedal locomotion, both formally and in practice. This paper presents an analytical framework 1) to address…
We present a novel method of optimal robust control through quadratic programs that offers tracking stability while subject to input and state-based constraints as well as safety-critical constraints for nonlinear dynamical robotic systems…
Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…
Agile-legged robots have proven to be highly effective in navigating and performing tasks in complex and challenging environments, including disaster zones and industrial settings. However, these applications normally require the capability…
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.…
Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical reality. This is due to continued progress in three key areas: a mathematical understanding of locomotion, the computational ability to encode this…
Recently reinforcement learning (RL) has emerged as a promising approach for quadrupedal locomotion, which can save the manual effort in conventional approaches such as designing skill-specific controllers. However, due to the complex…
Recent advances in quadrupedal robots have demonstrated impressive agility and the ability to traverse diverse terrains. However, hardware issues, such as motor overheating or joint locking, may occur during long-distance walking or…
We tackle the problem of perceptive locomotion in dynamic environments. In this problem, a quadrupedal robot must exhibit robust and agile walking behaviors in response to environmental clutter and moving obstacles. We present a…
There has been significant advancement in legged robot's agility where they can show impressive acrobatic maneuvers, such as parkour. These maneuvers rely heavily on posture manipulation. To expand the stability and locomotion plasticity,…
In this paper, a hierarchical and robust framework for learning bipedal locomotion is presented and successfully implemented on the 3D biped robot Digit built by Agility Robotics. We propose a cascade-structure controller that combines the…
Climbing, crouching, bridging gaps, and walking up stairs are just a few of the advantages that quadruped robots have over wheeled robots, making them more suitable for navigating rough and unstructured terrain. However, executing such…
Achieving stability and robustness is the primary goal of biped locomotion control. Recently, deep reinforce learning (DRL) has attracted great attention as a general methodology for constructing biped control policies and demonstrated…
While motion planning of locomotion for legged robots has shown great success, motion planning for legged robots with dexterous multi-finger grasping is not mature yet. We present an efficient motion planning framework for simultaneously…
Developing robust walking controllers for bipedal robots is a challenging endeavor. Traditional model-based locomotion controllers require simplifying assumptions and careful modelling; any small errors can result in unstable control. To…
We describe a whole-body dynamic walking controller implemented as a convex quadratic program. The controller solves an optimal control problem using an approximate value function derived from a simple walking model while respecting the…
This paper addresses the problem of legged locomotion in non-flat terrain. As legged robots such as quadrupeds are to be deployed in terrains with geometries which are difficult to model and predict, the need arises to equip them with the…