Related papers: Quadruped robot traversing 3D complex environments…
The complexity of a legged robot's environment or task can inform how specialised its gait must be to ensure success. Evolving specialised robotic gaits demands many evaluations - acceptable for computer simulations, but not for physical…
In this paper, we propose a leader-follower hierarchical strategy for two robots collaboratively transporting an object in a partially known environment with obstacles. Both robots sense the local surrounding environment and react to…
Passive deformation due to compliance is a commonly used benefit of soft robots, providing opportunities to achieve robust actuation with few active degrees of freedom. Soft growing robots in particular have shown promise in navigation of…
Designing agile locomotion for quadruped robots often requires extensive expertise and tedious manual tuning. In this paper, we present a system to automate this process by leveraging deep reinforcement learning techniques. Our system can…
Human body motions can be captured as a high-dimensional continuous signal using motion sensor technologies. The resulting data can be surprisingly rich in information, even when captured from persons with limited mobility. In this work, we…
Most of the quadrupeds developed are highly actuated, and their control is hence quite cumbersome. They need advanced electronics equipment to solve convoluted inverse kinematic equations continuously. In addition, they demand special and…
Guidance robots that can guide people and avoid various obstacles, could potentially be owned by more visually impaired people at a fairly low cost. Most of the previous guidance robots for the visually impaired ignored the human response…
Legged robots have unparalleled mobility on unstructured terrains. However, it remains an open challenge to design locomotion controllers that can operate in a large variety of environments. In this paper, we address this challenge of…
Quadruped robots have emerged as an evolving technology that currently leverages simulators to develop a robust controller capable of functioning in the real-world without the need for further training. However, since it is impossible to…
Legged robots, particularly quadrupeds, offer promising navigation capabilities, especially in scenarios requiring traversal over diverse terrains and obstacle avoidance. This paper addresses the challenge of enabling legged robots to…
Learning multiple gaits is non-trivial for legged robots, especially when encountering different terrains and velocity commands. In this work, we present an end-to-end training framework for learning multiple gaits for quadruped robots,…
Recent literature in the robotics community has focused on learning robot behaviors that abstract out lower-level details of robot control. To fully leverage the efficacy of such behaviors, it is necessary to select and sequence them to…
Dynamics modeling in outdoor and unstructured environments is difficult because different elements in the environment interact with the robot in ways that can be hard to predict. Leveraging multiple sensors to perceive maximal information…
Quadruped robots are proliferating in industrial environments where they carry sensor payloads and serve as autonomous inspection platforms. Despite the advantages of legged robots over their wheeled counterparts on rough and uneven…
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…
Despite the progress in legged robotic locomotion, autonomous navigation in unknown environments remains an open problem. Ideally, the navigation system utilizes the full potential of the robots' locomotion capabilities while operating…
One of the challenges faced by Autonomous Aerial Vehicles is reliable navigation through urban environments. Factors like reduction in precision of Global Positioning System (GPS), narrow spaces and dynamically moving obstacles make the…
Legged robots are increasingly entering new domains and applications, including search and rescue, inspection, and logistics. However, for such systems to be valuable in real-world scenarios, they must be able to autonomously and robustly…
Entanglements like vines and branches in natural settings or cords and pipes in human spaces prevent mobile robots from accessing many environments. Legged robots should be effective in these settings, and more so than wheeled or tracked…
We present a novel system, AdVENTR for autonomous robot navigation in unstructured outdoor environments that consist of uneven and vegetated terrains. Our approach is general and can enable both wheeled and legged robots to handle outdoor…