Related papers: Thruster-Assisted Incline Walking
Snake robots are characterized by their ability to navigate through small spaces and loose terrain by utilizing efficient cyclic forms of locomotion. Soft snake robots are a subset of these robots which utilize soft, compliant actuators to…
Bio-inspired walking hexapod robots are a relatively young branch in robotics in both state of the art and applications. Despite their high degree of flexibility and adaptability derived by their redundant design, the research field that…
Bipedal robots have received much attention because of the variety of motion maneuvers that they can produce, and the many applications they have in various areas including rehabilitation. One of these motion maneuvers is walking. In this…
In lunar and planetary exploration, legged robots have attracted significant attention as an alternative to conventional wheeled robots, which struggle to traverse rough and uneven terrain. To enable locomotion over highly irregular and…
In recent years, advancements in hardware have enabled quadruped robots to operate with high power and speed, while robust locomotion control using reinforcement learning (RL) has also been realized. As a result, expectations are rising for…
Bipedal animals have diverse morphologies and advanced locomotion abilities. Terrestrial birds, in particular, display agile, efficient, and robust running motion, in which they exploit the interplay between the body segment masses and…
Although recent years have seen significant progress of humanoid robots in walking and running, the frequent foot strikes with ground during these locomotion gaits inevitably generate high instantaneous impact forces, which leads to…
The heavy-load legged robot has strong load carrying capacity and can adapt to various unstructured terrains. But the large weight results in higher requirements for motion stability and environmental perception ability. In order to utilize…
There is a growing interest in learning a velocity command tracking controller of quadruped robot using reinforcement learning due to its robustness and scalability. However, a single policy, trained end-to-end, usually shows a single gait…
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…
During learning trials, systems are exposed to different failure conditions which may break robotic parts before a safe behavior is discovered. Humans contour this problem by grounding their learning to a safer structure/control first and…
Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…
In this article, we show that learned policies can be applied to solve legged locomotion control tasks with extensive flight phases, such as those encountered in space exploration. Using an off-the-shelf deep reinforcement learning…
Amphibious legged robots inspired by salamanders are promising in applications in complex amphibious environments. However, despite the significant success of training controllers that achieve diverse locomotion behaviors in conventional…
Learning highly dynamic behaviors for robots has been a longstanding challenge. Traditional approaches have demonstrated robust locomotion, but the exhibited behaviors lack diversity and agility. They employ approximate models, which lead…
Locomotion of legged machines faces the problems of model complexity and computational costs. Algorithms based on complex models and/or reinforcement learning exist to solve the walking control task. In this project, we aim to develop a…
A distinctive feature of quadrupeds that is integral to their locomotion is the tail. Tails serve many purposes in biological systems including propulsion, counterbalance, and stabilization while walking, running, climbing, or jumping.…
Physical interactions are inevitable part of human-robot collaboration tasks and rather than exhibiting simple reactive behaviors to human interactions, collaborative robots need to be endowed with intuitive behaviors. This paper proposes a…
Balancing oneself using the spine is a physiological alignment of the body posture in the most efficient manner by the muscular forces for mammals. For this reason, we can see many disabled quadruped animals can still stand or walk even…
This work presents algorithms for the feedback-stabilised walking of bipedal humanoid robotic platforms, along with the underlying theoretical and sensorimotor frameworks required to achieve it. Bipedal walking is inherently complex and…