Related papers: Fall Prediction for Bipedal Robots: The Standing P…
In this paper, an online adaptation algorithm for bipedal walking on uneven surfaces with height uncertainty is proposed. In order to generate walking patterns on flat terrains, the trajectories in the task space are planned to satisfy the…
The performances of braking control systems for robotic platforms, e.g., assisted and autonomous vehicles, airplanes and drones, are deeply influenced by the road-tire friction experienced during the maneuver. Therefore, the availability of…
Compensating for slip and skid is crucial for mobile robots navigating outdoor terrains. In these challenging environments, slipping and skidding introduce uncertainties into trajectory tracking systems, potentially compromising the safety…
In this paper, a method for stabilizing biped robots stepping by a combination of Divergent Component of Motion (DCM) tracking and step adjustment is proposed. In this method, the DCM trajectory is generated, consistent with the predefined…
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…
Gait event detection of the initial contact and toe off is essential for running gait analysis, allowing the derivation of parameters such as stance time. Heuristic-based methods exist to estimate these key gait events from tibial…
This paper presents a framework for dynamic object catching using a quadruped robot's front legs while it stands on its rear legs. The system integrates computer vision, trajectory prediction, and leg control to enable the quadruped to…
Building trajectories for biped robot walking is a complex task considering all degrees of freedom (DOFs) commonly bound within the mechanical structure. A typical problem for such robots is the instability produced by violent transitions…
Recognizing and identifying human locomotion is a critical step to ensuring fluent control of wearable robots, such as transtibial prostheses. In particular, classifying the intended locomotion mode and estimating the gait phase are key. In…
Available possibilities to prevent a biped robot from falling down in the presence of severe disturbances are mainly Center of Pressure (CoP) modulation, step location and timing adjustment, and angular momentum regulation. In this paper,…
Locomotion on granular slopes such as sand dunes remains a fundamental challenge for legged robots due to reduced shear strength and gravity-induced anisotropic yielding of granular media. Using a hexapedal robot on a tiltable granular bed,…
Collaborative robots are becoming more common on factory floors as well as regular environments, however, their safety still is not a fully solved issue. Collision detection does not always perform as expected and collision avoidance is…
Detecting and adapting to catastrophic failures in robotic systems requires a robot to learn its new dynamics quickly and safely to best accomplish its goals. To address this challenging problem, we propose probabilistically-safe, online…
This paper presents three feedback controllers that achieve an asymptotically stable, periodic, and fast walking gait for a 3D (spatial) bipedal robot consisting of a torso, two legs, and passive (unactuated) point feet. The contact between…
While quadruped robots usually have good stability and load capacity, bipedal robots offer a higher level of flexibility / adaptability to different tasks and environments. A multi-modal legged robot can take the best of both worlds. In…
This paper deals with the problem of detecting fallen people lying on the floor by means of a mobile robot equipped with a 3D depth sensor. In the proposed algorithm, inspired by semantic segmentation techniques, the 3D scene is…
Existing state estimation algorithms for legged robots that rely on proprioceptive sensors often overlook foot slippage and leg deformation in the physical world, leading to large estimation errors. To address this limitation, we propose a…
This paper presents a collaborative fall detection and response system integrating Wi-Fi sensing with robotic assistance. The proposed system leverages channel state information (CSI) disruptions caused by movements to detect falls in…
To improve the control of wearable robotics for gait assistance, we present an approach for continuous locomotion mode recognition as well as gait phase and stair slope estimation based on artificial neural networks that include time…
Fault detection in industrial plants is a hot research area as more and more sensor data are being collected throughout the industrial process. Automatic data-driven approaches are widely needed and seen as a promising area of investment.…