Related papers: Swift progress for robots over complex terrain
A promising approach to autonomous driving is machine learning. In such systems, training datasets are created that capture the sensory input to a vehicle as well as the desired response. A disadvantage of using a learned navigation system…
The design of gaits for robot locomotion can be a daunting process which requires significant expert knowledge and engineering. This process is even more challenging for robots that do not have an accurate physical model, such as compliant…
For humans, fast, efficient walking over flat ground represents the vast majority of locomotion that an individual experiences on a daily basis, and for an effective, real-world humanoid robot the same will likely be the case. In this work,…
Geometric mechanics provides valuable insights into how biological and robotic systems use changes in shape to move by mechanically interacting with their environment. In high-friction environments it provides that the entire interaction is…
Over the past few years, soccer-playing humanoid robots have advanced significantly. Elementary skills, such as bipedal walking, visual perception, and collision avoidance have matured enough to allow for dynamic and exciting games. When…
Soft pneumatic legged robots show promise in their ability to traverse a range of different types of terrain, including natural unstructured terrain met in applications like precision agriculture. They can adapt their body morphology to the…
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…
There is a growing interest in learning a velocity command tracking controller of quadruped robot using reinforcement learning due to its robustness and scalability. However, a single policy, trained end-to-end, usually shows a single gait…
Legged machines are becoming increasingly agile and adaptive but they have so far lacked the morphological diversity of legged animals, which have been rearranged and reshaped to fill millions of niches. Unlike their biological…
Bipedal robots adapt to the environment of the modern society due to the similarity of movement to humans, and therefore they are a good partner for humans. However, maintaining the stability of these robots during walking/running motion is…
Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or otherwise inaccessible environments. Although most legged robotics research to date typically focuses on traversing these challenging environments,…
Robots in shared spaces often move in ways that are difficult for people to interpret, placing the burden on humans to adapt. High-DoF robots exhibit motion that people read as expressive, intentionally or not, making it important to…
Multi-legged elongate robots hold promise for maneuvering through complex environments. Prior work has demonstrated that reliable locomotion can be achieved using open-loop body undulation and foot placement on rugose terrain. However,…
The remarkable athletic intelligence displayed by humans in complex dynamic movements such as dancing and gymnastics suggests that the balance mechanism in biological beings is decoupled from specific movement patterns. This decoupling…
Over the last decade, the use of autonomous drone systems for surveying, search and rescue, or last-mile delivery has increased exponentially. With the rise of these applications comes the need for highly robust, safety-critical algorithms…
Nowadays, autonomous service robots are becoming an important topic in robotic research. Differently from typical industrial scenarios, with highly controlled environments, service robots must show an additional robustness to task…
If robots are to become ubiquitous, they will need to be able to adapt to complex and dynamic environments. Robots that can adapt their bodies while deployed might be flexible and robust enough to meet this challenge. Previous work on…
Despite recent advances in robust locomotion, bipedal robots operating in the real world remain at risk of falling. While most research focuses on preventing such events, we instead concentrate on the phenomenon of falling itself.…
Nature has evolved humans to walk on different terrains by developing a detailed understanding of their physical characteristics. Similarly, legged robots need to develop their capability to walk on complex terrains with a variety of…
We present an approach to learn fast and dynamic robot motions without exceeding limits on the position $\theta$, velocity $\dot{\theta}$, acceleration $\ddot{\theta}$ and jerk $\dddot{\theta}$ of each robot joint. Movements are generated…