Related papers: Environment-Centric Learning Approach for Gait Syn…
Real-time constraint satisfaction for robots can be quite challenging due to the high computational complexity that arises when accounting for the system dynamics and environmental interactions, often requiring simplification in modelling…
Most legged robots are built with leg structures from serially mounted links and actuators and are controlled through complex controllers and sensor feedback. In comparison, animals developed multi-segment legs, mechanical coupling between…
Legged robots are able to navigate complex terrains by continuously interacting with the environment through careful selection of contact sequences and timings. However, the combinatorial nature behind contact planning hinders the…
The ability to generate robust walking gaits on bipedal robots is key to their successful realization on hardware. To this end, this work extends the method of Hybrid Zero Dynamics (HZD) -- which traditionally only accounts for locomotive…
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…
Gaits engineered for snake-like robots to rotate in-place instrumentally fill a gap in the set of locomotive gaits that have traditionally prioritized translation. This paper designs a Turn-in-Place gait and demonstrates the ability of a…
While modular robots offer versatility, excessive joint torque during locomotion poses a significant risk of mechanical failure, especially for detachable joints. To address this, we propose an optimization framework using the NSGA-III…
Animals achieve robust locomotion by offloading regulation from the brain to physical couplings within the body. In contrast, locomotion in artificial systems often depends on centralized processors. We introduce a rapid and autonomous…
Robots operating in human environments need various skills, like slow and fast walking, turning, side-stepping, and many more. However, building robot controllers that can exhibit such a large range of behaviors is a challenging problem…
When a gait of a bipedal robot is developed using deep reinforcement learning, reference trajectories may or may not be used. Each approach has its advantages and disadvantages, and the choice of method is up to the control developer. This…
This paper describes a topological approach to generating families of open- and closed-loop walking gaits for underactuated 2D and 3D biped walkers subject to configuration inequality constraints, physical holonomic constraints…
For a class of biped robots with impulsive dynamics and a non-empty set of passive gaits (unactuated, periodic motions of the biped model), we present a method for computing continuous families of locally optimal gaits with respect to a…
Inertia-dominated mechanical systems can achieve net displacement by 1) periodically changing their shape (known as kinematic gait) and 2) adjusting their inertia distribution to utilize the existing nonzero net momentum (known as momentum…
The dynamical properties of tensegrity robots give them appealing ruggedness and adaptability, but present major challenges with respect to locomotion control. Due to high-dimensionality and complex contact responses, data-driven approaches…
Multi-legged mobile robots possess high mobility performance in rough terrain environments, stemming from their high postural stability, joint flexibility, and the redundancy provided by multiple legs. In prior research on navigating…
Although recent years have seen significant progress of humanoid robots in walking and running, the frequent foot strikes with ground during these locomotion gaits inevitably generate high instantaneous impact forces, which leads to…
Living organisms intertwine soft (e.g., muscle) and hard (e.g., bones) materials, giving them an intrinsic flexibility and resiliency often lacking in conventional rigid robots. The emerging field of soft robotics seeks to harness these…
Current exoskeleton control methods often face challenges in delivering personalized treatment. Standardized walking gaits can lead to patient discomfort or even injury. Therefore, personalized gait is essential for the effectiveness of…
Gait phase-based control is a trending research topic for walking-aid robots, especially robotic lower-limb prostheses. Gait phase estimation is a challenge for gait phase-based control. Previous researches used the integration or the…
In this letter, we formulate a novel Markov Decision Process (MDP) for safe and data-efficient learning for humanoid locomotion aided by a dynamic balancing model. In our previous studies of biped locomotion, we relied on a low-dimensional…