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To traverse complex three-dimensional terrainwith large obstacles, animals and robots must transition across different modes. However, the most mechanistic understanding of terrestrial locomotion concerns how to generate and stabilize…

Wheeled-legged robots combine the efficiency of wheels with the versatility of legs, but face significant energy optimization challenges when navigating diverse environments. In this work, we present a hierarchical control framework that…

Legged robot research is presently focused on bipedal or quadrupedal robots, despite capabilities to build robots with many more legs to potentially improve locomotion performance. This imbalance is not necessarily due to hardware…

The design of gaits for robot locomotion can be a daunting process which requires significant expert knowledge and engineering. This process is even more challenging for robots that do not have an accurate physical model, such as compliant…

Learning-based approaches have recently shown notable success in legged locomotion. However, these approaches often lack accountability, necessitating empirical tests to determine their effectiveness. In this work, we are interested in…

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…

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…

Legged robots, particularly quadrupeds, excel at navigating rough terrains, yet their performance under vertical ground perturbations, such as those from oscillating surfaces, remains underexplored. This study introduces a novel approach to…

Legged robots are promising candidates for exploring challenging areas on low-gravity bodies such as the Moon, Mars, or asteroids, thanks to their advanced mobility on unstructured terrain. However, as planetary robots' power and thermal…

Animals have evolved various agile locomotion strategies, such as sprinting, leaping, and jumping. There is a growing interest in developing legged robots that move like their biological counterparts and show various agile skills to…

We present a novel reinforcement learning method to train the quadruped robot in a simulated environment. The idea of controlling quadruped robots in a dynamic environment is quite challenging and my method presents the optimum policy and…

Quadrupedal robots have played a crucial role in various environments, from structured environments to complex harsh terrains, thanks to their agile locomotion ability. However, these robots can easily lose their locomotion functionality if…

Automatic fall recovery is a crucial prerequisite before humanoid robots can be reliably deployed. Hand-designing controllers for getting up is difficult because of the varied configurations a humanoid can end up in after a fall and the…

In recent years, reinforcement learning (RL) based quadrupedal locomotion control has emerged as an extensively researched field, driven by the potential advantages of autonomous learning and adaptation compared to traditional control…

For a robot to be both autonomous and collaborative requires the ability to adapt its movement to a variety of external stimuli, whether these come from humans or other robots. Typically, legged robots have oscillation periods explicitly…

This research focuses on developing reinforcement learning approaches for the locomotion generation of small-size quadruped robots. The rat robot NeRmo is employed as the experimental platform. Due to the constrained volume, small-size…

Reinforcement learning (RL) has made significant strides in legged robot control, enabling locomotion across diverse terrains and complex loco-manipulation capabilities. However, the commonly used position or velocity tracking-based…

Bounding is one of the important gaits in quadrupedal locomotion for negotiating obstacles. The authors proposed an effective approach that can learn robust bounding gaits more efficiently despite its large variation in dynamic body…

Safety concerns during the operation of legged robots must be addressed to enable their widespread use. Machine learning-based control methods that use model-based constraints provide promising means to improve robot safety. This study…

Serially connected robots are promising candidates for performing tasks in confined spaces such as search-and-rescue in large-scale disasters. Such robots are typically limbless, and we hypothesize that the addition of limbs could improve…