Related papers: Dynamic Multimodal Locomotion: A Quick Overview of…
For safe and effective operation of humanoid robots in human-populated environments, the problem of commanding a large number of Degrees of Freedom (DoF) while simultaneously considering dynamic obstacles and human proximity has still not…
To reproduce natural standing-up motion, recent studies have emphasized the importance of coordination between the assisting robot and the human. However, many non-wearable assistive devices have struggled to replicate natural motion…
This paper summarizes an autonomous driving project by musculoskeletal humanoids. The musculoskeletal humanoid, which mimics the human body in detail, has redundant sensors and a flexible body structure. These characteristics are suitable…
Learning highly dynamic behaviors for robots has been a longstanding challenge. Traditional approaches have demonstrated robust locomotion, but the exhibited behaviors lack diversity and agility. They employ approximate models, which lead…
For locomotion, is an arm on a legged robot a liability or an asset for locomotion? Biological systems evolved additional limbs beyond legs that facilitates postural control. This work shows how a manipulator can be an asset for legged…
Operations in hazardous environments put humans, animals, and machines at high risk for physically damaging consequences. In contrast to humans and animals, quadruped robots cannot naturally identify and adjust their locomotion to a…
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…
We present an integrated approach to locomotion and balancing of humanoid robots based on direct centroidal control. Our method uses a five-mass description of a humanoid. It generates whole-body motions from desired foot trajectories and…
Multi-degree of freedom robots are playing very important role in different applications of automation. They are providing much more accuracy in carrying out a typical procedure as compared to the manual work done by human. In recent years…
Inspired by Chukars wing-assisted incline running (WAIR), in this work, we employ a high-fidelity model of our Husky Carbon quadrupedal-legged robot to walk over steep slopes of up to 45 degrees. Chukars use the aerodynamic forces generated…
Animals use limbs for both locomotion and manipulation. We aim to equip quadruped robots with similar versatility. This work introduces a system that enables quadruped robots to interact with objects using their legs, inspired by…
The impressive capabilities of humans to robustly perform manipulation relies on compliant interactions, enabled through the structure and materials spatially distributed in our hands. We propose by mimicking this distributed compliance in…
Guidance robots that can guide people and avoid various obstacles, could potentially be owned by more visually impaired people at a fairly low cost. Most of the previous guidance robots for the visually impaired ignored the human response…
Recent advances in quadrupedal robots have demonstrated impressive agility and the ability to traverse diverse terrains. However, hardware issues, such as motor overheating or joint locking, may occur during long-distance walking or…
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…
Most legged robots are built with leg structures from serially mounted links and actuators and are controlled through complex controllers and sensor feedback. In comparison, animals developed multi-segment legs, mechanical coupling between…
In trying to build humanoid robots that perform useful tasks in a world built for humans, we address the problem of autonomous locomotion. Humanoid robot planning and control algorithms for walking over rough terrain are becoming…
Jumping and hopping locomotion are efficient means of traversing unstructured rugged terrain with the former being the focus of roboticists; a focus that has recently been changing. This focus has led to significant performance and…
The popularity of mobile robots has been steadily growing, with these robots being increasingly utilized to execute tasks previously completed by human workers. For bipedal robots to see this same success, robust autonomous navigation…
Blueprint of an in-pipe climbing robot that works with sharp transmissions to study complex line relationships. Standard wheeled/happening pipe climbing robots tend to slide when exploring pipe turns. Instruments help achieve a very…