Related papers: Extended Capture Point and Optimization-based Cont…
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…
Legged rovers provide enhanced mobility compared to wheeled platforms, enabling navigation on steep and irregular planetary terrains. However, traditional legged locomotion might be energetically inefficient and potentially dangerous to the…
Quadruped robots are currently a widespread platform for robotics research, thanks to powerful Reinforcement Learning controllers and the availability of cheap and robust commercial platforms. However, to broaden the adoption of the…
Legged robots have great potential to perform loco-manipulation tasks, yet it is challenging to keep the robot balanced while it interacts with the environment. In this paper we study the use of additional contact points for maximising the…
Reinforcement learning (RL) has enabled robust quadruped locomotion over complex terrain, but most learned controllers are trained offline with backpropagation in massively parallel simulation and deployed as fixed policies, limiting…
Stable gait generation is a crucial problem for legged robot locomotion as this impacts other critical performance factors such as, e.g. mobility over an uneven terrain and power consumption. Gait generation stability results from the…
We address a state-of-the-art reinforcement learning (RL) control approach to automatically configure robotic prosthesis impedance parameters to enable end-to-end, continuous locomotion intended for transfemoral amputee subjects.…
In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to impact emerging robotics applications from logistics, to agriculture, to home assistance. The goal of this survey is to cover the recent progress toward…
Controlled execution of dynamic motions in quadrupedal robots, especially those with articulated soft bodies, presents a unique set of challenges that traditional methods struggle to address efficiently. In this study, we tackle these…
This study focuses on the locomotion capability improvement in a tendon-driven soft quadruped robot through an online adaptive learning approach. Leveraging the inverse kinematics model of the soft quadruped robot, we employ a central…
In nature, legged animals have developed the ability to adapt to challenging terrains through perception, allowing them to plan safe body and foot trajectories in advance, which leads to safe and energy-efficient locomotion. Inspired by…
This paper introduces a system of data collection acceleration and real-to-sim transferring for surface recognition on a quadruped robot. The system features a mechanical single-leg setup capable of stepping on various easily…
Autonomous wheeled-legged robots have the potential to transform logistics systems, improving operational efficiency and adaptability in urban environments. Navigating urban environments, however, poses unique challenges for robots,…
Replicating the remarkable athleticism seen in animals has long been a challenge in robotics control. Although Reinforcement Learning (RL) has demonstrated significant progress in dynamic legged locomotion control, the substantial…
Dynamic bipedal robot locomotion has achieved remarkable success due in part to recent advances in trajectory generation and nonlinear control for stabilization. A key assumption utilized in both theory and experiments is that the robot's…
Legged robots are increasingly entering new domains and applications, including search and rescue, inspection, and logistics. However, for such systems to be valuable in real-world scenarios, they must be able to autonomously and robustly…
Terrain geometry is, in general, non-smooth, non-linear, non-convex, and, if perceived through a robot-centric visual unit, appears partially occluded and noisy. This work presents the complete control pipeline capable of handling the…
This paper combines the fast Zero-Moment-Point (ZMP) approaches that work well in practice with the broader range of capabilities of a Trajectory Optimization formulation, by optimizing over body motion, footholds and Center of Pressure…
Collapsing terrains, often present in search and rescue missions or planetary exploration, pose significant challenges for quadruped robots. This paper introduces a robust locomotion framework for safe navigation over unstable surfaces by…
This paper proposes a modular framework to generate robust biped locomotion using a tight coupling between an analytical walking approach and deep reinforcement learning. This framework is composed of six main modules which are…