Related papers: Control of a Hexapod Robot Considering Terrain Int…

Dynamic quadrupedal locomotion over rough terrains reveals remarkable progress over the last few decades. Small-scale quadruped robots are adequately flexible and adaptable to traverse uneven terrains along sagittal direction, such as…

Underactuated legged robots depict highly nonlinear and complex dynamical behaviors that create significant challenges in accurately modeling system dynamics using both first principles and system identification approaches. Hence, it makes…

Legged robots can traverse challenging terrain, use perception to plan their safe foothold positions, and navigate the environment. Such unique mobility capabilities make these platforms a perfect candidate for scenarios such as search and…

Achieving stable bipedal walking on surfaces with unknown motion remains a challenging control problem due to the hybrid, time-varying, partially unknown dynamics of the robot and the difficulty of accurate state and surface motion…

Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…

Previous humanoid robot research works treat the robot as a bipedal mobile manipulation platform, where only the feet and hands contact the environment. However, we humans use all body parts to interact with the world, e.g., we sit in…

Torque control algorithms which consider robot dynamics and contact constraints are important for creating dynamic behaviors for humanoids. As computational power increases, algorithms tend to also increase in complexity. However, it is not…

Humanoid robots can, in principle, use their legs to go almost anywhere. Developing controllers capable of traversing diverse terrains, however, remains a considerable challenge. Classical controllers are hard to generalize broadly while…

Robot feet are crucial for maintaining dynamic stability and propelling the body during walking, especially on uneven terrains. Traditionally, robot feet were mostly designed as flat and stiff pieces of metal, which meets its limitations…

In this paper, we present a general learning framework for controlling a quadruped robot that can mimic the behavior of real animals and traverse challenging terrains. Our method consists of two steps: an imitation learning step to learn…

Step adjustment can improve the gait robustness of biped robots, however the adaptation of step timing is often neglected as it gives rise to non-convex problems when optimized over several footsteps. In this paper, we argue that it is not…

This paper addresses the challenge of terrain-adaptive dynamic locomotion in humanoid robots, a problem traditionally tackled by optimization-based methods or reinforcement learning (RL). Optimization-based methods, such as model-predictive…

Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…

Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the robot without interfering with the target direction and speed…

Legged locomotion enables robotic systems to traverse extremely challenging terrains. In many real-world scenarios, the terrain is not that difficult and these mixed terrain types introduce the need for flexible use of different walking…

For the deployment of legged robots in real-world environments, it is essential to develop robust locomotion control methods for challenging terrains that may exhibit unexpected deformability and irregularity. In this paper, we explore the…

Learning how to walk is a sophisticated neurological task for most animals. In order to walk, the brain must synthesize multiple cortices, neural circuits, and diverse sensory inputs. Some animals, like humans, imitate surrounding…

Most humanoid robots have highly complicated structure and design of robots that are very similar to human is extremely difficult. In this paper, modelling of a general and comprehensive algorithm for control of humanoid robots is presented…

Like mammals, robots must rapidly learn to control their bodies and interact with their environment despite incomplete knowledge of their body structure and surroundings. They must also adapt to continuous changes in both. This work…

For humanoids to be deployed in demanding situations, such as search and rescue, highly intelligent decision making and proficient sensorimotor skill is expected. A promising solution is to leverage human prowess by interconnecting robot…