Related papers: Two-layer adaptive trajectory tracking controller …

In this paper, we present a framework rooted in control and planning that enables quadrupedal robots to traverse challenging terrains with discrete footholds using visual feedback. Navigating discrete terrain is challenging for quadrupeds…

Bipedal robots have received much attention because of the variety of motion maneuvers that they can produce, and the many applications they have in various areas including rehabilitation. One of these motion maneuvers is walking. In this…

A safety-critical measure of legged locomotion performance is a robot's ability to track its desired time-varying position trajectory in an environment, which is herein termed as "global-position tracking". This paper introduces a nonlinear…

Multimodal locomotion capability is an emerging topic in robotics field, and various novel mobile robots have been developed to enable the maneuvering in both terrestrial and aerial domains. Among these hybrid robots, several…

Bipedal robots promise the ability to traverse rough terrain quickly and efficiently, and indeed, humanoid robots can now use strong ankles and careful foot placement to traverse discontinuous terrain. However, more agile underactuated…

Many robotic systems must follow planned paths yet pause safely and resume when people or objects intervene. We present an output-space method for systems whose tracked output can be feedback-linearized to a double integrator (e.g.,…

As a single-track mobile platform, bikebot (i.e., bicycle-based robot) has attractive navigation capability to pass through narrow, off-road terrain with high-speed and high-energy efficiency. However, running crossing step-like obstacles…

Trajectory planning for mobile robots in cluttered environments remains a major challenge due to narrow passages, where conventional methods often fail or generate suboptimal paths. To address this issue, we propose the adaptive trajectory…

This work presents a motion retargeting approach for legged robots, aimed at transferring the dynamic and agile movements to robots from source motions. In particular, we guide the imitation learning procedures by transferring motions from…

The ability of bipedal robots to adapt to diverse and unstructured terrain conditions is crucial for their deployment in real-world environments. To this end, we present a novel, bio-inspired robot foot design with stabilizing tarsal…

Animals locomote robustly and agile, albeit significant sensorimotor delays of their nervous system. The sensorimotor control of legged robots is implemented with much higher frequencies-often in the kilohertz range-and sensor and actuator…

Terrain adaptation is an essential capability for a ground robot to effectively traverse unstructured off-road terrain in real-world field environments such as forests. However, the expected robot behaviors generated by terrain adaptation…

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…

Recently, reinforcement learning has become a promising and polular solution for robot legged locomotion. Compared to model-based control, reinforcement learning based controllers can achieve better robustness against uncertainties of…

Robots usually establish contacts at rigid surfaces with near-zero relative velocities. Otherwise, impact-induced energy propagates in the robot's linkage and may cause irreversible damage to the hardware. Moreover, abrupt changes in…

Autonomous navigation in extreme mountainous terrains poses challenges due to the presence of mobility-stressing elements and undulating surfaces, making it particularly difficult compared to conventional off-road driving scenarios. In such…

As legged robots are deployed in industrial and autonomous construction tasks requiring collaborative manipulation, they must handle object manipulation while maintaining stable locomotion. The challenge intensifies in real-world…

Tracked vehicles distribute their weight continuously over a large surface area (the tracks). This distinctive feature makes them the preferred choice for vehicles required to traverse soft and uneven terrain. From a robotics perspective,…

Gaits and transitions are key components in legged locomotion. For legged robots, describing and reproducing gaits as well as transitions remain longstanding challenges. Reinforcement learning has become a powerful tool to formulate…

There has been significant advancement in legged robot's agility where they can show impressive acrobatic maneuvers, such as parkour. These maneuvers rely heavily on posture manipulation. To expand the stability and locomotion plasticity,…