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Animals locomote robustly and agile, albeit significant sensorimotor delays of their nervous system. The sensorimotor control of legged robots is implemented with much higher frequencies-often in the kilohertz range-and sensor and actuator…
This paper presents a comprehensive study on using deep reinforcement learning (RL) to create dynamic locomotion controllers for bipedal robots. Going beyond focusing on a single locomotion skill, we develop a general control solution that…
Many animals, modern aircraft, and underwater vehicles use streamlined body shapes that reduce fluid dynamic drag to achieve fast and effective locomotion in air and water. Similarly, numerous small terrestrial animals move through…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
The control of bipedal robotic walking remains a challenging problem in the domains of computation and experiment, due to the multi-body dynamics and various sources of uncertainty. In recent years, there has been a rising trend towards…
This paper addresses the challenge of terrain-adaptive dynamic locomotion in humanoid robots, a problem traditionally tackled by optimization-based methods or reinforcement learning (RL). Optimization-based methods, such as model-predictive…
Purpose of Review: As new technological advancements are made, humanoid robots that utilise them are being designed and manufactured. For optimal design choices, a broad overview with insight on the advantages and disadvantages of available…
Humans excel at robust bipedal walking in complex natural environments. In each step, they adequately tune the interaction of biomechanical muscle dynamics and neuronal signals to be robust against uncertainties in ground conditions.…
Legged robots are being used to explore rough terrains as they are capable of traversing gaps and obstacles. In this paper, a new mechanism is designed to replicate a robotic lizard using integrated five-bar mechanisms. There are two five…
The concept of aerial-aquatic robots has emerged as an innovative solution that can operate both in the air and underwater. Previous research on the design of such robots has been mainly focused on mature technologies such as fixed-wing and…
Sidewinding, a locomotion strategy characterized by the coordination of lateral and vertical body undulations, is frequently observed in rattlesnakes and has been successfully reconstructed by limbless robotic systems for effective movement…
Underwater vehicles have seen significant development over the past seventy years. However, bio-inspired propulsion robots are still in their early stages and require greater interdisciplinary collaboration between biologists and…
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…
Hiking on complex trails demands balance, agility, and adaptive decision-making over unpredictable terrain. Current humanoid research remains fragmented and inadequate for hiking: locomotion focuses on motor skills without long-term goals…
Humanoid robots, capable of assuming human roles in various workplaces, have become essential to embodied intelligence. However, as robots with complex physical structures, learning a control model that can operate robustly across diverse…
Back injuries are the most prevalent work-related musculoskeletal disorders and represent a major cause of disability. Although innovations in wearable robots aim to alleviate this hazard, the majority of existing exoskeletons are obtrusive…
Inchworm crawling allows for both quasistatic and dynamic gaits at a wide range of actuation frequencies. This locomotion mechanism is common in nonskeletal animals and exploited extensively in the bio-inspired field of soft robotics. In…
Multi-legged robots offer enhanced stability to navigate complex terrains with their multiple legs interacting with the environment. However, how to effectively coordinate the multiple legs in a larger action exploration space to generate…
Snakes can traverse almost all types of environments by bending their elongate bodies in 3-D to interact with the terrain. Similarly, a snake robot is a promising platform to perform critical tasks in various environments. Understanding how…
Bipedal animals have diverse morphologies and advanced locomotion abilities. Terrestrial birds, in particular, display agile, efficient, and robust running motion, in which they exploit the interplay between the body segment masses and…