Related papers: Quadruped robot traversing 3D complex environments…
Vision-based locomotion has shown great promise in enabling legged robots to perceive and adapt to complex environments. However, visual information is inherently fragile, being vulnerable to occlusions, reflections, and lighting changes,…
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…
Despite growing interest in developing legged robots that emulate biological locomotion for agile navigation of complex environments, acquiring a diverse repertoire of skills remains a fundamental challenge in robotics. Existing methods can…
COVID-19 pandemic has become a global challenge faced by people all over the world. Social distancing has been proved to be an effective practice to reduce the spread of COVID-19. Against this backdrop, we propose that the surveillance…
Quadruped robots are progressively being integrated into human environments. Despite the growing locomotion capabilities of quadrupedal robots, their interaction with objects in realistic scenes is still limited. While additional robotic…
Advances in sensing and learning algorithms have led to increasingly mature solutions for human detection by robots, particularly in selected use-cases such as pedestrian detection for self-driving cars or close-range person detection in…
Bounding is one of the important gaits in quadrupedal locomotion for negotiating obstacles. The authors proposed an effective approach that can learn robust bounding gaits more efficiently despite its large variation in dynamic body…
Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…
Legged robots have enormous potential in their range of capabilities, from navigating unstructured terrains to high-speed running. However, designing robust controllers for highly agile dynamic motions remains a substantial challenge for…
Personal mobile robotic assistants are expected to find wide applications in industry and healthcare. For example, people with limited mobility can benefit from robots helping with daily tasks, or construction workers can have robots…
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…
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…
In nature, legged animals have developed the ability to adapt to challenging terrains through perception, allowing them to plan safe body and foot trajectories in advance, which leads to safe and energy-efficient locomotion. Inspired by…
Robust closed-loop locomotion remains challenging for soft quadruped robots due to high-dimensional dynamics, actuator hysteresis, and difficult-to-model contact interactions, while conventional proprioception provides limited information…
Climbing, crouching, bridging gaps, and walking up stairs are just a few of the advantages that quadruped robots have over wheeled robots, making them more suitable for navigating rough and unstructured terrain. However, executing such…
Modern quadrupeds are skillful in traversing or even sprinting on uneven terrains in a remote uncontrolled environment. However, survival in the wild requires not only maneuverability, but also the ability to handle potential critical…
Quadrupedal mobile robots can traverse a wider range of terrain types than their wheeled counterparts but do not perform the same on all terrain types. These robots are prone to undesirable behaviours like sinking and slipping on…
Collision-free motion is essential for mobile robots. Most approaches to collision-free and efficient navigation with wheeled robots require parameter tuning by experts to obtain good navigation behavior. This study investigates the…
Traditional approaches to quadruped control frequently employ simplified, hand-derived models. This significantly reduces the capability of the robot since its effective kinematic range is curtailed. In addition, kinodynamic constraints are…
Autonomously controlling quadrotors in large-scale subterranean environments is applicable to many areas such as environmental surveying, mining operations, and search and rescue. Learning-based controllers represent an appealing approach…