Related papers: RAMIEL: A Parallel-Wire Driven Monopedal Robot for…

To be useful tools in real scenarios, humanoid robots must realize tasks dynamically. This means that they must be capable of applying substantial forces, rapidly swinging their limbs, and also mitigating impacts that may occur during the…

This work developed a kernel-based residual learning framework for quadrupedal robotic locomotion. Initially, a kernel neural network is trained with data collected from an MPC controller. Alongside a frozen kernel network, a residual…

Robots excel at avoiding obstacles but struggle to traverse complex 3-D terrain with cluttered large obstacles. By contrast, insects like cockroaches excel at doing so. Recent research in our lab elucidated how locomotor transitions emerge…

This paper presents the MOBIUS platform, a bipedal robot capable of walking, crawling, climbing, and rolling. MOBIUS features four limbs, two 6-DoF arms with two-finger grippers for manipulation and climbing, and two 4-DoF legs for…

Wheeled-legged robots, which have wheels at their feet and achieve high mobility by coordinating wheel drive and leg drive, have been developed. These robots have been developed purely as platforms specialized for locomotion. Therefore,…

Bipedal walking is one of the most important hallmarks of human that robots have been trying to mimic for many decades. Although previous control methodologies have achieved robot walking on some terrains, there is a need for a framework…

Motivated by a high demand for automated inspection of civil infrastructure, this work presents a new design and development of a tank-like robot for structural health monitoring. Unlike most existing magnetic wheeled mobile robot designs,…

Climbing Robots are being developed for applications ranging from cleaning to the inspection of difficult to reach constructions. Climbing robots should be capable of carrying a light payload and climbing on vertical surfaces with ability…

Hybrid wheeled-legged locomotion is a navigation paradigm only recently opened up by novel robotic designs,e.g. the centaur-type humanoid CENTAURO [1] or the quadruped ANYmal [2] in its configuration featuring non-steerable wheels. The term…

This paper designs a new spherical robot structure capable of supporting high-speed motion at up to 10 m/s. Building upon a single-pendulum-driven spherical robot, the design incorporates a momentum wheel with an axis aligned with the…

In this paper, we propose a locomotion training framework where a control policy and a state estimator are trained concurrently. The framework consists of a policy network which outputs the desired joint positions and a state estimation…

Model-based control usually relies on an accurate model, which is often obtained from CAD and actuator models. The more accurate the model the better the control performance. However, in bipedal robots that demonstrate high agility actions,…

This work explores an innovative algorithm designed to enhance the mobility of underactuated bipedal robots across challenging terrains, especially when navigating through spaces with constrained opportunities for foot support, like steps…

In this paper, we propose a novel design of an electrically actuated robotic leg, called the DecARt (Decoupled Actuation Robot) Leg, aimed at performing agile locomotion. This design incorporates several new features, such as the use of a…

There are many spaces inaccessible to humans where robots could help deliver sensors and equipment. Many of these spaces contain three-dimensional passageways and uneven terrain that pose challenges for robot design and control. Everting…

Snakes and their bio-inspired robot counterparts have demonstrated locomotion on a wide range of terrains. However, dynamic vertical climbing is one locomotion strategy that has received little attention in the existing snake robotics…

This paper presents the design, analysis, and performance evaluation of an omnidirectional transformable wheel-leg robot called OmniWheg. We design a novel mechanism consisting of a separable omni-wheel and 4-bar linkages, allowing the…

This paper presents three feedback controllers that achieve an asymptotically stable, periodic, and fast walking gait for a 3D (spatial) bipedal robot consisting of a torso, two legs, and passive (unactuated) point feet. The contact between…

Reinforcement learning (RL) has shown great potential in enabling quadruped robots to perform agile locomotion. However, directly training policies to simultaneously handle dual extreme challenges, i.e., extreme underactuation and extreme…

In this paper, we study a wheeled robot with a prismatic extension joint. This allows the robot to build up momentum to perform jumps over obstacles and to swing up to the upright position after the loss of balance. We propose a template…