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Bipedal locomotion makes humanoid robots inherently prone to falls, causing catastrophic damage to the expensive sensors, actuators, and structural components of full-scale robots. To address this critical barrier to real-world deployment,…

Designing control policies for legged locomotion is complex due to the under-actuated and non-continuous robot dynamics. Model-free reinforcement learning provides promising tools to tackle this challenge. However, a major bottleneck of…

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.…

Falling is an inherent risk of humanoid mobility. Maintaining stability is thus a primary safety focus in robot control and learning, yet no existing approach fully averts loss of balance. When instability does occur, prior work addresses…

Legged robots have shown promise in locomotion complex environments, but recovery from falls on challenging terrains remains a significant hurdle. This paper presents an Adaptive Fall Recovery (AFR) controller for quadrupedal robots on…

The ability to recover from an unexpected external perturbation is a fundamental motor skill in bipedal locomotion. An effective response includes the ability to not just recover balance and maintain stability but also to fall in a safe…

Quadruped robots have shown remarkable mobility on various terrains through reinforcement learning. Yet, in the presence of sparse footholds and risky terrains such as stepping stones and balance beams, which require precise foot placement…

Quadruped robots are designed to achieve agile and robust locomotion by drawing inspiration from legged animals. However, most existing control methods for quadruped robots lack a key capacity observed in animals: the ability to exhibit…

Fall recovery for legged robots remains challenging, particularly on complex terrains where traditional controllers fail due to incomplete terrain perception and uncertain interactions. We present \textbf{FR-Net}, a learning-based framework…

Falling cat problem is well-known where cats show their super aerial reorientation capability and can land safely. For their robotic counterparts, a similar falling quadruped robot problem, has not been fully addressed, although achieving…

Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…

Adaptive falling and recovery skills greatly extend the applicability of robot deployments. In the case of legged mobile manipulators, the robot arm could adaptively stop the fall and assist the recovery. Prior works on falling and recovery…

Reliable fall recovery is critical for humanoids operating in cluttered environments. Unlike quadrupeds or wheeled robots, humanoids experience high-energy impacts, complex whole-body contact, and large viewpoint changes during a fall,…

This paper presents a novel approach to fall prediction for bipedal robots, specifically targeting the detection of potential falls while standing caused by abrupt, incipient, and intermittent faults. Leveraging a 1D convolutional neural…

Humanoid robots have received significant research interests and advancements in recent years. Despite many successes, due to their morphology, dynamics and limitation of control policy, humanoid robots are prone to fall as compared to…

Learning from Demonstration (LfD) is a powerful method for enabling robots to perform novel tasks as it is often more tractable for a non-roboticist end-user to demonstrate the desired skill and for the robot to efficiently learn from the…

The ability to recover from a fall is an essential feature for a legged robot to navigate in challenging environments robustly. Until today, there has been very little progress on this topic. Current solutions mostly build upon…

Humanoid robots encounter considerable difficulties in autonomously recovering from falls, especially within dynamic and unstructured environments. Conventional control methodologies are often inadequate in addressing the complexities…

The aging population is growing rapidly, and so is the danger of falls in older adults. A major cause of injury is falling, and detection in time can greatly save medical expenses and recovery time. However, to provide timely intervention…

In dynamic environments, robots often encounter constrained movement trajectories when manipulating objects with specific properties, such as doors. Therefore, applying the appropriate force is crucial to prevent damage to both the robots…