Related papers: Learning Visuo-Motor Behaviours for Robot Locomoti…
Multi-legged robots offer enhanced stability to navigate complex terrains with their multiple legs interacting with the environment. However, how to effectively coordinate the multiple legs in a larger action exploration space to generate…
Humans possess delicate dynamic balance mechanisms that enable them to maintain stability across diverse terrains and under extreme conditions. However, despite significant advances recently, existing locomotion algorithms for humanoid…
Accurate and precise terrain estimation is a difficult problem for robot locomotion in real-world environments. Thus, it is useful to have systems that do not depend on accurate estimation to the point of fragility. In this paper, we…
Most locomotion methods for humanoid robots focus on leg-based gaits, yet natural bipeds frequently rely on hands, knees, and elbows to establish additional contacts for stability and support in complex environments. This paper introduces…
Quadrupedal robots have demonstrated remarkable agility and robustness in traversing complex terrains. However, they struggle with dynamic object interactions, where contact must be precisely sensed and controlled. To bridge this gap, we…
Quadrupedal locomotion over complex terrain has been a long-standing research topic in robotics. While recent reinforcement learning-based locomotion methods improve generalizability and foot-placement precision, they rely on implicit…
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…
Traversing risky terrains with sparse footholds presents significant challenges for legged robots, requiring precise foot placement in safe areas. To acquire comprehensive exteroceptive information, prior studies have employed motion…
Deep reinforcement learning (RL) based controllers for legged robots have demonstrated impressive robustness for walking in different environments for several robot platforms. To enable the application of RL policies for humanoid robots in…
Accurate traversability estimation is essential for safe and effective navigation of outdoor robots operating in complex environments. This paper introduces a novel experience-based method that allows robots to autonomously learn which…
The challenge of robotic reproduction -- making of new robots by recombining two existing ones -- has been recently cracked and physically evolving robot systems have come within reach. Here we address the next big hurdle: producing an…
Legged robots have enormous potential in their range of capabilities, from navigating unstructured terrains to high-speed running. However, designing robust controllers for highly agile dynamic motions remains a substantial challenge for…
Quadrupedal robots hold promising potential for applications in navigating cluttered environments with resilience akin to their animal counterparts. However, their floating base configuration makes them vulnerable to real-world…
Autonomous mobile robots need to perceive the environments with their onboard sensors (e.g., LiDARs and RGB cameras) and then make appropriate navigation decisions. In order to navigate human-inhabited public spaces, such a navigation task…
The challenge of traversability estimation is a crucial aspect of autonomous navigation in unstructured outdoor environments such as forests. It involves determining whether certain areas are passable or risky for robots, taking into…
Learned locomotion policies can rapidly adapt to diverse environments similar to those experienced during training but lack a mechanism for fast tuning when they fail in an out-of-distribution test environment. This necessitates a slow and…
Traversing narrow paths is challenging for humanoid robots due to the sparse and safety-critical footholds required. Purely template-based or end-to-end reinforcement learning-based methods suffer from such harsh terrains. This paper…
We consider the problem of developing robots that navigate like pedestrians on sidewalks through city centers for performing various tasks including delivery and surveillance. One particular challenge for such robots is crossing streets…
Dynamic locomotion of legged robots is a critical yet challenging topic in expanding the operational range of mobile robots. It requires precise planning when possible footholds are sparse, robustness against uncertainties and disturbances,…
Multi-modal robots expand their operations from one working medium to another, land to air for example. The majorities of multi-modal robots mainly refer to platforms that operate in two different media. However, for all-terrain tasks,…