Related papers: Foot Shape-Dependent Resistive Force Model for Bip…
Stable bipedal walking is a key prerequisite for humanoid robots to reach their potential of being versatile helpers in our everyday environments. Bipedal walking is, however, a complex motion that requires the coordination of many degrees…
Recently, reinforcement learning has become a promising and polular solution for robot legged locomotion. Compared to model-based control, reinforcement learning based controllers can achieve better robustness against uncertainties of…
Enabling robots to walk and run on yielding terrain is increasingly vital to endeavors ranging from disaster response to extraterrestrial exploration. While dynamic legged locomotion on rigid ground is challenging enough, yielding terrain…
For robots to navigate safely and efficiently on soft, granular terrains, it is crucial to gather information about the terrain's mechanical properties, which directly affect locomotion performance. Recent research has developed robotic…
Enabling bipedal walking robots to learn how to maneuver over highly uneven, dynamically changing terrains is challenging due to the complexity of robot dynamics and interacted environments. Recent advancements in learning from…
Legged locomotion benefits from embodied sensing, where perception emerges from the physical interaction between body and environment. We present a soft-surfaced, vision-based tactile foot sensor that endows a bipedal robot with a skin-like…
Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially…
Legged robots have the potential to traverse complex terrain and access confined spaces beyond the reach of traditional platforms thanks to their ability to carefully select footholds and flexibly adapt their body posture while walking.…
This paper introduces the Terrain Recognition And Contact Force Estimation Paw, a compact and sensorized shoe designed for legged robots. The paw end-effector is made of silicon that deforms upon the application of contact forces, while an…
This paper proposes a method to evaluate the capability of aggressive legged robot landing under significant touchdown linear and angular velocities upon impact. Our approach builds upon the Planar Inverted Pendulum with Flywheel (PIPF)…
In this work, we demonstrate robust walking in the bipedal robot Digit on uneven terrains by just learning a single linear policy. In particular, we propose a new control pipeline, wherein the high-level trajectory modulator shapes the…
Multi-legged elongate robots hold promise for maneuvering through complex environments. Prior work has demonstrated that reliable locomotion can be achieved using open-loop body undulation and foot placement on rugose terrain. However,…
Reinforcement learning method is extremely competitive in gait generation techniques for quadrupedal robot, which is mainly due to the fact that stochastic exploration in reinforcement training is beneficial to achieve an autonomous gait.…
Quadrupedal robots resemble the physical ability of legged animals to walk through unstructured terrains. However, designing a controller for quadrupedal robots poses a significant challenge due to their functional complexity and requires…
Deep reinforcement learning has seen successful implementations on humanoid robots to achieve dynamic walking. However, these implementations have been so far successful in simple environments void of obstacles. In this paper, we aim to…
In this paper, with a view toward deployment of light-weight control frameworks for bipedal walking robots, we realize end-foot trajectories that are shaped by a single linear feedback policy. We learn this policy via a model-free and a…
Previous studies have successfully demonstrated agile and robust locomotion in challenging terrains for quadrupedal robots. However, the bipedal locomotion mode for quadruped robots remains unverified. This paper explores the adaptation of…
This paper introduces a new approach to enhance the robustness of humanoid walking under strong perturbations, such as substantial pushes. Effective recovery from external disturbances requires bipedal robots to dynamically adjust their…
Stabilizing legged robot locomotion on a dynamic rigid surface (DRS) (i.e., rigid surface that moves in the inertial frame) is a complex planning and control problem. The complexity arises due to the hybrid nonlinear walking dynamics…
Legged robots need to be capable of walking on diverse terrain conditions. In this paper, we present a novel reinforcement learning framework for learning locomotion on non-rigid dynamic terrains. Specifically, our framework can generate…