Related papers: Adaptive Gait Modeling and Optimization for Princi…

Isolated mechanical systems -- e.g., those floating in space, in free-fall, or on a frictionless surface -- are able to achieve net rotation by cyclically changing their shape, even if they have no net angular momentum. Similarly, swimmers…

Mobile robots, such as ground vehicles and quadrotors, are becoming increasingly important in various fields, from logistics to agriculture, where they automate processes in environments that are difficult to access for humans. However, to…

Trajectory optimization methods have achieved an exceptional level of performance on real-world robots in recent years. These methods heavily rely on accurate analytical models of the dynamics, yet some aspects of the physical world can…

Robots and automated systems are increasingly being introduced to unknown and dynamic environments where they are required to handle disturbances, unmodeled dynamics, and parametric uncertainties. Robust and adaptive control strategies are…

This paper presents a gait optimization and motion planning framework for a class of locomoting systems with mixed kinematic and dynamic properties. Using Lagrangian reduction and differential geometry, we derive a general dynamic model…

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…

Lower limb exoskeletons (LLEs) present the potential to make motor-impaired individuals walk again. Their application in real-world environments is still limited by the lack of effective adaptive gait planning. Indeed, current exoskeletons…

Recent advancements in soft actuators have enabled soft continuum swimming robots to achieve higher efficiency and more closely mimic the behaviors of real marine animals. However, optimizing the design and control of these soft continuum…

Adaptive biomechanical systems may show similar observable gait performance while differing in latent organization and longitudinal behavior. This study examines whether an observed longitudinal transformation of gait organization can be…

This paper investigates gradient-based adaptive prediction and control for nonlinear stochastic dynamical systems under a weak convexity condition on the prediction-based loss. This condition accommodates a broad range of nonlinear models…

This work aims to combine machine learning and control approaches for legged robots, and developed a hybrid framework to achieve new capabilities of balancing against external perturbations. The framework embeds a kernel which is a fully…

We introduce a Bayesian system identification (SysID) framework for jointly estimating robot's state trajectories and physical parameters with high accuracy. It embeds physically consistent inverse dynamics, contact and loop-closure…

In this work we present a trajectory Optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automatically discover different gaits and dynamic motions on a…

In this paper, we propose a method for generating undulatory gaits for snake robots. Instead of starting from a pre-defined movement pattern such as a serpenoid curve, we use a Model Predictive Control approach to automatically generate…

Gait recognition is a rapidly advancing vision technique for person identification from a distance. Prior studies predominantly employed relatively shallow networks to extract subtle gait features, achieving impressive successes in…

Uncertainty of environments has long been a difficult characteristic to handle, when performing real-world robot tasks. This is because the uncertainty produces unexpected observations that cannot be covered by manual scripting. Learning…

We present a novel outdoor navigation algorithm to generate stable and efficient actions to navigate a robot to reach a goal. We use a multi-stage training pipeline and show that our approach produces policies that result in stable and…

Limbless robots have the potential to maneuver through cluttered environments that conventional robots cannot traverse. As illustrated in their biological counterparts such as snakes and nematodes, limbless locomotors can benefit from…

As the global population ages, effective rehabilitation and mobility aids will become increasingly critical. Gait assistive robots are promising solutions, but designing adaptable controllers for various impairments poses a significant…

Soft robotics aims to develop robots able to adapt their behavior across a wide range of unstructured and unknown environments. A critical challenge of soft robotic control is that nonlinear dynamics often result in complex behaviors hard…