Related papers: Snake and Snake Robot Locomotion in Complex, 3-D T…
The ability to modify morphology in response to environmental changes represents a highly advantageous feature in biological organisms, facilitating their adaptation to diverse environmental conditions. While some robots have the capability…
The integration of humanoid and animal-shaped robots into specialized domains, such as healthcare, multi-terrain operations, and psychotherapy, necessitates a deep understanding of proxemics--the study of spatial behavior that governs…
When walking on loose terrains, possibly covered with vegetation, the ground and grass should deform, but the character's gait should also change accordingly. We propose a method for modeling such two-ways interactions in real-time. We…
Teleoperated humanoid robots hold significant potential as physical avatars for humans in hazardous and inaccessible environments, with the goal of channeling human intelligence and sensorimotor skills through these robotic counterparts.…
Forthcoming applications concerning humanoid robots may involve physical interaction between the robot and a dynamic environment. In such scenario, classical balancing and walking controllers that neglect the environment dynamics may not be…
Limbless creatures can crawl on flat surfaces by deforming their bodies and interacting with asperities on the ground, offering a biological blueprint for designing efficient limbless robots. Inspired by this natural locomotion, we present…
Stabilizing legged robot locomotion on a dynamic rigid surface (DRS) (i.e., rigid surface that moves in the inertial frame) is a complex planning and control problem. The complexity arises due to the hybrid nonlinear walking dynamics…
Collapsing terrains, often present in search and rescue missions or planetary exploration, pose significant challenges for quadruped robots. This paper introduces a robust locomotion framework for safe navigation over unstable surfaces by…
In this paper, we present a new locomotion control method for soft robot snakes. Inspired by biological snakes, our control architecture is composed of two key modules: A deep reinforcement learning (RL) module for achieving adaptive…
Passive deformation due to compliance is a commonly used benefit of soft robots, providing opportunities to achieve robust actuation with few active degrees of freedom. Soft growing robots in particular have shown promise in navigation of…
We present controllers that enable mobile robots to persistently monitor or sweep a changing environment. The changing environment is modeled as a field which grows in locations that are not within range of a robot, and decreases in…
For mobile robots, navigating cluttered or dynamic environments often necessitates non-prehensile manipulation, particularly when faced with objects that are too large, irregular, or fragile to grasp. The unpredictable behavior and varying…
Robots that physically interact with their surroundings, in order to accomplish some tasks or assist humans in their activities, require to exploit contact forces in a safe and proficient manner. Impedance control is considered as a…
In this paper, we propose a robust controller that achieves natural and stably fast locomotion on a real blind quadruped robot. With only proprioceptive information, the quadruped robot can move at a maximum speed of 10 times its body…
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transformation, we convert diverse vehicle…
In this work we present a framework that is capable of accurately representing soft robotic actuators in a multiphysics environment in real-time. We propose a constraint-based dynamics model of a 1-dimensional pneumatic soft actuator that…
Quadruped robots are designed to achieve agile and robust locomotion by drawing inspiration from legged animals. However, most existing control methods for quadruped robots lack a key capacity observed in animals: the ability to exhibit…
This paper proposes Gait Decomposition (G.D), a method of mathematically decomposing snake movements, and Gait Parameter Gradient (GPG), a method of optimizing decomposed gait parameters. G.D is a method that can express the snake gait…
Robot controllers are often optimised for a single robot in a single environment. This approach proves brittle, as such a controller will often fail to produce sensible behavior for a new morphology or environment. In comparison, animal…
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…