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With the rapid development of embodied intelligence, locomotion control of quadruped robots on complex terrains has become a research hotspot. Unlike traditional locomotion control approaches focusing solely on velocity tracking, we pursue…
Snakes are a remarkable evolutionary success story. Many snake-inspired robots have been proposed over the years. Soft robotic snakes (SRS) with their continuous and smooth bending capability better mimic their biological counterparts'…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
This paper introduces a new type of soft continuum robot, called SCoReS, which is capable of self-controlling continuously its curvature at the segment level; in contrast to previous designs which either require external forces or machine…
Dynamic bipedal robot locomotion has achieved remarkable success due in part to recent advances in trajectory generation and nonlinear control for stabilization. A key assumption utilized in both theory and experiments is that the robot's…
For locomotion, is an arm on a legged robot a liability or an asset for locomotion? Biological systems evolved additional limbs beyond legs that facilitates postural control. This work shows how a manipulator can be an asset for legged…
Snake robots offer considerable potential for endoscopic interventions due to their ability to follow curvilinear paths. Telemanipulation is an open problem due to hyper-redundancy, as input devices only allow a specification of six degrees…
Robotic locomotion can become efficient when mechanisms exploit passive dynamics, compliance, and resonance rather than track prescribed trajectories. This paper formulates natural locomotion as an exchange principle for systems whose…
Inspired by the vertebrate branch of the animal kingdom, articulated soft robots are robotic systems embedding elastic elements into a classic rigid (skeleton-like) structure. Leveraging on their bodies elasticity, soft robots promise to…
Soft robotic snakes made of compliant materials can continuously deform their bodies and, therefore, mimic the biological snakes' flexible and agile locomotion gaits better than their rigid-bodied counterparts. Without wheel support, to…
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…
The gaits of undulating animals arise from a complex interaction of their central nervous system, muscle, connective tissue, bone, and environment. As a simplifying assumption, many previous studies have often assumed that sufficient…
In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work…
Stable locomotion in precipitous environments is an essential task for quadruped robots, requiring the ability to resist various external disturbances. Recent neural policies enhance robustness against disturbances by learning to resist…
Swing arms have an irreplaceable role in promoting highly dynamic locomotion on bipedal robots by a larger angular momentum control space from the viewpoint of biomechanics. Few bipedal robots utilize swing arms and its redundancy…
Reorientation (turning in plane) plays a critical role for all robots in any field application, especially those that in confined spaces. While important, reorientation remains a relatively unstudied problem for robots, including limbless…
Snake robots have been studied for decades with the aim of achieving biological snakes' fluent locomotion. Yet, as of today, their locomotion remains far from that of the biological snakes. Our recent study suggested that snake locomotion…
Animals run robustly in diverse terrain. This locomotion robustness is puzzling because axon conduction velocity is limited to a few ten meters per second. If reflex loops deliver sensory information with significant delays, one would…
The sit-to-stand movement is a key feature for wide adoption of powered lower limb orthoses for patients with complete paraplegia. In this paper we study the control of the ascending phase of the sit-to-stand movement for a minimally…
Learning dexterous locomotion policy for legged robots is becoming increasingly popular due to its ability to handle diverse terrains and resemble intelligent behaviors. However, joint manipulation of moving objects and locomotion with…