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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…
We present a footstep planning policy for quadrupedal locomotion that is able to directly take into consideration a-priori safety information in its decisions. At its core, a learning process analyzes terrain patches, classifying each…
In reinforcement learning for legged robot locomotion, crafting effective reward strategies is crucial. Pre-defined gait patterns and complex reward systems are widely used to stabilize policy training. Drawing from the natural locomotion…
For autonomous mobile robots, uncertainties in the environment and system model can lead to failure in the motion planning pipeline, resulting in potential collisions. In order to achieve a high level of robust autonomy, these robots should…
This paper presents a modular approach to motion planning with provable stability guarantees for robots that move through changing environments via periodic locomotion behaviors. We focus on dynamic walkers as a paradigm for such systems,…
The optimal operation of transportation systems is often susceptible to unexpected disruptions. Many established control strategies reliant on mathematical models can struggle with real-world disruptions, leading to significant divergence…
Jumping constitutes an essential component of quadruped robots' locomotion capabilities, which includes dynamic take-off and adaptive landing. Existing quadrupedal jumping studies mainly focused on the stance and flight phase by assuming a…
Learning various motor skills for quadrupedal robots is a challenging problem that requires careful design of task-specific mathematical models or reward descriptions. In this work, we propose to learn a single capable policy using deep…
Falls are a major cause of injury and mortality among older adults, yet most incidents occur in private indoor environments where monitoring must balance effectiveness with privacy. Existing privacy-preserving fall detection approaches,…
The hybrid zero dynamics (HZD) approach has become a powerful tool for the gait planning and control of bipedal robots. This paper aims to extend the HZD methods to address walking, ambling and trotting behaviors on a quadrupedal robot. We…
Recent advances in robotics have enabled the widespread deployment of autonomous robotic systems in complex operational environments, presenting both unprecedented opportunities and significant security problems. Traditional shepherding…
A vast number of applications for legged robots entail tasks in complex, dynamic environments. But these environments put legged robots at high risk for limb damage. This paper presents an empirical study of fault tolerant dynamic gaits…
Legged robots have enormous potential in their range of capabilities, from navigating unstructured terrains to high-speed running. However, designing robust controllers for highly agile dynamic motions remains a substantial challenge for…
Developing agile behaviors for legged robots remains a challenging problem. While deep reinforcement learning is a promising approach, learning truly agile behaviors typically requires tedious reward shaping and careful curriculum design.…
Safety is a crucial property of every robotic platform: any control policy should always comply with actuator limits and avoid collisions with the environment and humans. In reinforcement learning, safety is even more fundamental for…
It is often overlooked by roboticists when designing locomotion controllers for their legged machines, that energy consumption plays an important role in selecting the best gaits for locomotion at high speeds or over long distances. The…
We propose a novel angular velocity estimation method to increase the robustness of Simultaneous Localization And Mapping (SLAM) algorithms against gyroscope saturations induced by aggressive motions. Field robotics expose robots to various…
Robot feet are crucial for maintaining dynamic stability and propelling the body during walking, especially on uneven terrains. Traditionally, robot feet were mostly designed as flat and stiff pieces of metal, which meets its limitations…
Generating safe motion plans in real-time is a key requirement for deploying robot manipulators to assist humans in collaborative settings. In particular, robots must satisfy strict safety requirements to avoid self-damage or harming nearby…
Quadrupedal robots have emerged as a cutting-edge platform for assisting humans, finding applications in tasks related to inspection and exploration in remote areas. Nevertheless, their floating base structure renders them susceptible to…