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Parkour is a grand challenge for legged locomotion, even for quadruped robots, requiring active perception and various maneuvers to overcome multiple challenging obstacles. Existing methods for humanoid locomotion either optimize a…
We present a novel system, AdVENTR for autonomous robot navigation in unstructured outdoor environments that consist of uneven and vegetated terrains. Our approach is general and can enable both wheeled and legged robots to handle outdoor…
Navigation is an essential capability for mobile robots. In this paper, we propose a generalized yet effective 3M (i.e., multi-robot, multi-scenario, and multi-stage) training framework. We optimize a mapless navigation policy with a robust…
In this work, we present a learning-based pipeline to realise local navigation with a quadrupedal robot in cluttered environments with static and dynamic obstacles. Given high-level navigation commands, the robot is able to safely locomote…
The popularity of mobile robots has been steadily growing, with these robots being increasingly utilized to execute tasks previously completed by human workers. For bipedal robots to see this same success, robust autonomous navigation…
Task space trajectory tracking for quadruped robots plays a crucial role on achieving dexterous maneuvers in unstructured environments. To fulfill the control objective, the robot should apply forces through the contact of the legs with the…
It is challenging for a mobile robot to navigate through human crowds. Existing approaches usually assume that pedestrians follow a predefined collision avoidance strategy, like social force model (SFM) or optimal reciprocal collision…
Legged robots must adapt their gait to navigate unpredictable environments, a challenge that animals master with ease. However, most deep reinforcement learning (DRL) approaches to quadruped locomotion rely on a fixed gait, limiting…
Teaching autonomous mobile robots to successfully navigate human crowds is a challenging task. Not only does it require planning, but it requires maintaining social norms which may differ from one context to another. Here we focus on crowd…
How can a robot navigate successfully in rich and diverse environments, indoors or outdoors, along office corridors or trails on the grassland, on the flat ground or the staircase? To this end, this work aims to address three challenges:…
Navigation strategies that intentionally incorporate contact with humans (i.e. "contact-based" social navigation) in crowded environments are largely unexplored even though collision-free social navigation is a well studied problem.…
Quadrupedal robots resemble the physical ability of legged animals to walk through unstructured terrains. However, designing a controller for quadrupedal robots poses a significant challenge due to their functional complexity and requires…
Recently, the navigation of mobile robots in unknown environments has become a particularly significant research topic. Previous studies have primarily employed real-time environmental mapping using cameras and LiDAR, along with…
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…
In this paper, with a view toward deployment of light-weight control frameworks for bipedal walking robots, we realize end-foot trajectories that are shaped by a single linear feedback policy. We learn this policy via a model-free and a…
This paper introduces DogSurf - a newapproach of using quadruped robots to help visually impaired people navigate in real world. The presented method allows the quadruped robot to detect slippery surfaces, and to use audio and haptic…
Dynamic traversal of uneven terrain is a major objective in the field of legged robotics. The most recent model predictive control approaches for these systems can generate robust dynamic motion of short duration; however, planning over a…
In this paper, we consider a general task of jumping varying distances and heights for a quadrupedal robot in noisy environments, such as off of uneven terrain and with variable robot dynamics parameters. To accurately jump in such…
Quadruped robots must exhibit robust walking capabilities in practical applications. In this work, we propose a novel approach that enables quadruped robots to pass various small obstacles, or "tiny traps". Existing methods often rely on…
Walkability is a key component of sustainable urban development. In walkability studies, collecting detailed pedestrian infrastructure data remains challenging due to the high costs and limited scalability of traditional methods. Sidewalk…