Related papers: Thruster-Assisted Incline Walking
A hover-capable insect-inspired flying robot that can remain long in the air has shown its potential use for both confined indoor and outdoor applications to complete assigned tasks. In this letter, we report improvements in the flight…
A common approach to the generation of walking patterns for humanoid robots consists in adopting a layered control architecture. This paper proposes an architecture composed of three nested control loops. The outer loop exploits a robot…
Inverted landing in a rapid and robust manner is a challenging feat for aerial robots, especially while depending entirely on onboard sensing and computation. In spite of this, this feat is routinely performed by biological fliers such as…
A terrestrial robot that can maneuver rough terrain and scout places is very useful in mapping out unknown areas. It can also be used explore dangerous areas in place of humans. A terrestrial robot modeled after a scorpion will be able to…
Although wheeled robots have been predominant for planetary exploration, their geometry limits their capabilities when traveling over steep slopes, through rocky terrains, and in microgravity. Legged robots equipped with grippers are a…
We introduce a robust control architecture for the whole-body motion control of torque controlled robots with arms and legs. The method is based on the robust control of contact forces in order to track a planned Center of Mass trajectory.…
The quality of the visual feedback can vary significantly on a legged robot that is meant to traverse unknown and unstructured terrains. The map of the environment, acquired with online state-of-the-art algorithms, often degrades after a…
In this work, we propose a learning approach for 3D dynamic bipedal walking when footsteps are constrained to stepping stones. While recent work has shown progress on this problem, real-world demonstrations have been limited to relatively…
This paper presents the design, analysis, and performance evaluation of RicMonk, a novel three-link brachiation robot equipped with passive hook-shaped grippers. Brachiation, an agile and energy-efficient mode of locomotion observed in…
It is often overlooked by roboticists when designing locomotion controllers for their legged machines, that energy consumption plays an important role in selecting the best gaits for locomotion at high speeds or over long distances. The…
Flapping-wing robots offer significant versatility; however, achieving efficient multi-modal locomotion remains challenging. This paper presents the design, modeling, and experimentation of a novel tailless flapping-wing robot with three…
Recently several hierarchical inverse dynamics controllers based on cascades of quadratic programs have been proposed for application on torque controlled robots. They have important theoretical benefits but have never been implemented on a…
This paper describes the control, and evaluation of a new human-scaled biped robot with liquid cooled viscoelastic actuators (VLCA). Based on the lessons learned from previous work from our team on VLCA [1], we present a new system design…
We present a new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. It consists of a high-torque brushless DC motor and a low-gear-ratio transmission suitable for impedance and…
When a big and heavy robot moves, it exerts large forces on the environment and on its own structure, its angular momentum can varysubstantially, and even the robot's structure can deform if there is a mechanical weakness. Under these…
To dynamically traverse challenging terrain, legged robots need to continually perceive and reason about upcoming features, adjust the locations and timings of future footfalls and leverage momentum strategically. We present a pipeline that…
Multimodal locomotion capability is an emerging topic in robotics field, and various novel mobile robots have been developed to enable the maneuvering in both terrestrial and aerial domains. Among these hybrid robots, several…
Animals have evolved various agile locomotion strategies, such as sprinting, leaping, and jumping. There is a growing interest in developing legged robots that move like their biological counterparts and show various agile skills to…
In this paper, we present a novel control architecture for the online adaptation of bipedal locomotion on inclined obstacles. In particular, we introduce a novel, cost-effective, and versatile foot sensor to detect the proximity of the…
A novel efficient downstairs trajectory is proposed for a 9 link biped robot model with toe-foot. Brachistochrone is the fastest descent trajectory for a particle moving only under the influence of gravity. In most situations, while…