Related papers: Narrow-Path, Dynamic Walking Using Integrated Post…
In this work we present a trajectory Optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automatically discover different gaits and dynamic motions on a…
How can a robot navigate successfully in rich and diverse environments, indoors or outdoors, along office corridors or trails on the grassland, on the flat ground or the staircase? To this end, this work aims to address three challenges:…
Quadruped robots are currently a widespread platform for robotics research, thanks to powerful Reinforcement Learning controllers and the availability of cheap and robust commercial platforms. However, to broaden the adoption of the…
Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these…
Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical reality. This is due to continued progress in three key areas: a mathematical understanding of locomotion, the computational ability to encode this…
This paper combines the fast Zero-Moment-Point (ZMP) approaches that work well in practice with the broader range of capabilities of a Trajectory Optimization formulation, by optimizing over body motion, footholds and Center of Pressure…
This paper presents an online walking synthesis methodology to enable dynamic and stable walking on constrained footholds for underactuated bipedal robots. Our approach modulates the change of angular momentum about the foot-ground contact…
Despite their remarkable advancement in locomotion and manipulation, humanoid robots remain challenged by a lack of synchronized loco-manipulation control, hindering their full dynamic potential. In this work, we introduce a versatile and…
Push recovery during locomotion will facilitate the deployment of humanoid robots in human-centered environments. In this paper, we present a unified framework for walking control and push recovery for humanoid robots, leveraging the arms…
This work explores an innovative algorithm designed to enhance the mobility of underactuated bipedal robots across challenging terrains, especially when navigating through spaces with constrained opportunities for foot support, like steps…
In this paper we present advancements in control and trajectory generation for agile behavior in bipedal robots. We demonstrate that Whole-Body Operational Space Control (WBOSC), developed a few years ago, is well suited for achieving two…
This paper presents a framework for dynamic object catching using a quadruped robot's front legs while it stands on its rear legs. The system integrates computer vision, trajectory prediction, and leg control to enable the quadruped to…
In this paper, a simple Neural controller has been used to achieve stable walking in a NAO biped robot, with 22 degrees of freedom that implemented in a virtual physics-based simulation environment of Robocup soccer simulation environment.…
We propose enhancing trajectory optimization methods through the incorporation of two key ideas: variable-grasp pose sampling and trajectory commitment. Our iterative approach samples multiple grasp poses, increasing the likelihood of…
Tendon-driven continuum robots (TDCRs), with their flexible backbones, offer the advantage of being used for navigating complex, cluttered environments. However, to do so, they typically require multiple segments, often leading to complex…
We propose a novel mechanism that propagates vibration through soft twisted beams, taking advantage of dynamically-coupled anisotropic stiffness to simplify the actuation of walking robots. Using dynamic simulation and experimental…
Keeping the stability can be counted as the essential ability of a humanoid robot to step out of the laboratory to work in our real environment. Since humanoid robots have similar kinematic to a human, humans expect these robots to be…
This paper addresses several critical stages of designing a walking robot, including optimal structural synthesis, introducing a novel 'rational' mechanical structure aimed at enhancing efficiency and simplifying control system, while…
In this paper, we propose an efficient approach to generate dynamic and versatile humanoid walking with non-constant center of mass (COM) height. We exploit the benefits of using reduced order models (ROMs) and stepping control to generate…
Rigid-bodied robots often lack compliance needed to adapt to unstructured environments, while fully soft robots, though highly adaptable, struggle with scalability and load capacity. In nature, musculoskeletal systems balance strength and…