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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…
Planning whole-body motions while taking into account the terrain conditions is a challenging problem for legged robots since the terrain model might produce many local minima. Our coupled planning method uses stochastic and…
Quadruped robots have shown remarkable mobility on various terrains through reinforcement learning. Yet, in the presence of sparse footholds and risky terrains such as stepping stones and balance beams, which require precise foot placement…
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…
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…
We present a novel control strategy for dynamic legged locomotion in complex scenarios, that considers information about the morphology of the terrain in contexts when only on-board mapping and computation are available. The strategy is…
Taking inspiration from the natural gait transition mechanism of quadrupeds, devising a good gait transition strategy is important for quadruped robots to achieve energy-efficient locomotion on various terrains and velocities. While…
Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of the underactuated dynamics of the system. Reliably optimizing for such motions and interactions in the presence of imperfect and…
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…
Animals are capable of precise and agile locomotion using vision. Replicating this ability has been a long-standing goal in robotics. The traditional approach has been to decompose this problem into elevation mapping and foothold planning…
This work developed a learning framework for perceptive legged locomotion that combines visual feedback, proprioceptive information, and active gait regulation of foot-ground contacts. The perception requires only one forward-facing camera…
Legged locomotion is a complex control problem that requires both accuracy and robustness to cope with real-world challenges. Legged systems have traditionally been controlled using trajectory optimization with inverse dynamics. Such…
We present a unified model-based and data-driven approach for quadrupedal planning and control to achieve dynamic locomotion over uneven terrain. We utilize on-board proprioceptive and exteroceptive feedback to map sensory information and…
Legged robots must exhibit robust and agile locomotion across diverse, unstructured terrains, a challenge exacerbated under blind locomotion settings where terrain information is unavailable. This work introduces a hierarchical…
Animals in nature combine multiple modalities, such as sight and feel, to perceive terrain and develop an understanding of how to walk on uneven terrain in a stable manner. Similarly, legged robots need to develop their ability to stably…
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…
Legged robots have the potential to traverse complex terrain and access confined spaces beyond the reach of traditional platforms thanks to their ability to carefully select footholds and flexibly adapt their body posture while walking.…
Humanoid robots are engineered to navigate terrains akin to those encountered by humans, which necessitates human-like locomotion and perceptual abilities. Currently, the most reliable controllers for humanoid motion rely exclusively on…
A great advantage of legged robots is their ability to operate on particularly difficult and obstructed terrain, which demands dynamic, robust, and precise movements. The study of obstacle courses provides invaluable insights into the…
Entanglements like vines and branches in natural settings or cords and pipes in human spaces prevent mobile robots from accessing many environments. Legged robots should be effective in these settings, and more so than wheeled or tracked…