Related papers: Real-time Optimal Landing Control of the MIT Mini …
Seemingly in defiance of basic physics, cats consistently land on their feet after falling. In this paper, we design a controller that lands the Mini Cheetah quadruped robot on its feet as well. Specifically, we explore how trajectory…
Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…
This work presents a two part framework for online planning and execution of dynamic aerial motions on a quadruped robot. Motions are planned via a centroidal momentum-based nonlinear optimization that is general enough to produce rich sets…
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.…
The ability to recover from a fall is an essential feature for a legged robot to navigate in challenging environments robustly. Until today, there has been very little progress on this topic. Current solutions mostly build upon…
Quadrupedal robots have emerged as a cutting-edge platform for assisting humans, finding applications in tasks related to inspection and exploration in remote areas. Nevertheless, their floating base structure renders them susceptible to…
Quadrupeds are strong candidates for navigating challenging environments because of their agile and dynamic designs. This paper presents a methodology that extends the range of exploration for quadrupedal robots by creating an end-to-end…
Falling cat problem is well-known where cats show their super aerial reorientation capability and can land safely. For their robotic counterparts, a similar falling quadruped robot problem, has not been fully addressed, although achieving…
Jumping constitutes an essential component of quadruped robots' locomotion capabilities, which includes dynamic take-off and adaptive landing. Existing quadrupedal jumping studies mainly focused on the stance and flight phase by assuming a…
This paper presents a framework for controlled emergency landing of a quadcopter, experiencing a rotor failure, away from sensitive areas. A complete mathematical model capturing the dynamics of the system is presented that takes the…
This study has developed a fault-tolerant controller that is able to recover a quadrotor from arbitrary initial orientations and angular velocities, despite the complete failure of a rotor. This cascaded control method includes a…
The feet of robots are typically used to design locomotion strategies, such as balancing, walking, and running. However, they also have great potential to perform manipulation tasks. In this paper, we propose a model predictive control…
Agile maneuvers such as sprinting and high-speed turning in the wild are challenging for legged robots. We present an end-to-end learned controller that achieves record agility for the MIT Mini Cheetah, sustaining speeds up to 3.9 m/s. This…
This paper addresses the modeling and attitude control of jumping quadrupeds in low-gravity environments. First, a convex decomposition procedure is presented to generate high-accuracy and low-cost collision geometries for quadrupeds…
In this letter, we present a versatile hierarchical offline planning algorithm, along with an online control pipeline for agile quadrupedal locomotion. Our offline planner alternates between optimizing centroidal dynamics for a…
Fall recovery for legged robots remains challenging, particularly on complex terrains where traditional controllers fail due to incomplete terrain perception and uncertain interactions. We present \textbf{FR-Net}, a learning-based framework…
Despite extensive studies on motion stabilization of bipeds, they still suffer from the lack of disturbance coping capability on slippery surfaces. In this paper, a novel controller for stabilizing a bipedal motion in its sagittal plane is…
Legged robots have shown promise in locomotion complex environments, but recovery from falls on challenging terrains remains a significant hurdle. This paper presents an Adaptive Fall Recovery (AFR) controller for quadrupedal robots on…
This extended abstract provides a short introduction on our recently developed perception-based controller for quadrupedal locomotion. Compared to our previous approach based on Visual Foothold Adaptation (VFA) and Model Predictive Control…
Dynamic jumping with legged robots poses a challenging problem in planning and control. Formulating the jump optimization to allow fast online execution is difficult; efficiently using this capability to generate long-horizon motion plans…