Related papers: HyperDog: An Open-Source Quadruped Robot Platform …
We present a new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. It consists of a high-torque brushless DC motor and a low-gear-ratio transmission suitable for impedance and…
We present an open-source untethered quadrupedal soft robot platform for dynamic locomotion (e.g., high-speed running and backflipping). The robot is mostly soft (80 vol.%) while driven by four geared servo motors. The robot's soft body and…
This paper presents Stanford Doggo, a quasi-direct-drive quadruped capable of dynamic locomotion. This robot matches or exceeds common performance metrics of state-of-the-art legged robots. In terms of vertical jumping agility, a measure of…
Developing real robotic systems requires a tight integration of mechanics, electronics and software. Most of the times, existing robotic platforms are either closed or expensive or both, and in-house solutions are costly to develop and…
OpenRoACH is a 15-cm 200-gram self-contained hexapedal robot with an onboard single-board computer. To our knowledge, it is the smallest legged robot with the capability of running the Robot Operating System (ROS) onboard. The robot is…
While quadruped robots usually have good stability and load capacity, bipedal robots offer a higher level of flexibility / adaptability to different tasks and environments. A multi-modal legged robot can take the best of both worlds. In…
Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially…
In recent years, the Robot Operating System (ROS) is developing rapidly and has been widely used in robotics research because of its flexible, open source, and extensive advantages. In scientific research, the corresponding hardware…
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…
This paper introduces CognitiveDog, a pioneering development of quadruped robot with Large Multi-modal Model (LMM) that is capable of not only communicating with humans verbally but also physically interacting with the environment through…
The use of standard robotic platforms can accelerate research and lower the entry barrier for new research groups. There exist many affordable humanoid standard platforms in the lower size ranges of up to 60cm, but larger humanoid robots…
The use of standard platforms in the field of humanoid robotics can lower the entry barrier for new research groups, and accelerate research by the facilitation of code sharing. Numerous humanoid standard platforms exist in the lower size…
The versatility of humanoid robots in locomotion, full-body motion, interaction with unmodified human environments, and intuitive human-robot interaction led to increased research interest. Multiple smaller platforms are available for…
The use of standard platforms in the field of humanoid robotics can accelerate research, and lower the entry barrier for new research groups. While many affordable humanoid standard platforms exist in the lower size ranges of up to 60cm,…
Animals, such as birds, widely use multi-modal locomotion by combining legged and aerial mobility with dominant inertial effects. The robotic biomimicry of this multi-modal locomotion feat can yield ultra-flexible systems in terms of their…
For several years, high development and production costs of humanoid robots restricted researchers interested in working in the field. To overcome this problem, several research groups have opted to work with simulated or smaller robots,…
Wheeled-legged robots have the potential for highly agile and versatile locomotion. The combination of legs and wheels might be a solution for any real-world application requiring rapid, and long-distance mobility skills on challenging…
Humanoid robotics research depends on capable robot platforms, but recently developed advanced platforms are often not available to other research groups, expensive, dangerous to operate, or closed-source. The lack of available platforms…
Various quadruped robots have been developed to date, and thanks to reinforcement learning, they are now capable of traversing diverse types of rough terrain. In parallel, there is a growing trend of releasing these robot designs as…
Legged locomotion holds the premise of universal mobility, a critical capability for many real-world robotic applications. Both model-based and learning-based approaches have advanced the field of legged locomotion in the past three…