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Multi-legged mobile robots possess high mobility performance in rough terrain environments, stemming from their high postural stability, joint flexibility, and the redundancy provided by multiple legs. In prior research on navigating…
Robotic models are useful for independently varying specific features, but most quadrupedal robots differ so greatly from animal morphologies that they have minimal biomechanical relevance. Commercially available quadrupedal robots are also…
In this paper, a hierarchical and robust framework for learning bipedal locomotion is presented and successfully implemented on the 3D biped robot Digit built by Agility Robotics. We propose a cascade-structure controller that combines the…
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…
Loco-manipulation of quadrupedal robots has broadened robotic applications, but using legs as manipulators often compromises locomotion, while mounting arms complicates the system. To mitigate this issue, we introduce bipedalism for…
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…
Advanced ultrasound computed tomography techniques like full-waveform inversion are mathematically challenging and orders of magnitude more computationally expensive than conventional ultrasound imaging methods. This computational and…
Effective bipedal locomotion in dynamic environments, such as cluttered indoor spaces or uneven terrain, requires agile and adaptive movement in all directions. This necessitates omnidirectional terrain sensing and a controller capable of…
This work aims to push the limits of agility for bipedal robots by enabling a torque-controlled bipedal robot to perform robust and versatile dynamic jumps in the real world. We present a reinforcement learning framework for training a…
With academic and commercial interest for humanoid robots peaking, multiple platforms are being developed. Through a high level of customization, they showcase impressive performance. Most of these systems remain closed-source or have high…
Deep reinforcement learning has seen successful implementations on humanoid robots to achieve dynamic walking. However, these implementations have been so far successful in simple environments void of obstacles. In this paper, we aim to…
Legged locomotion is a highly promising but under-researched subfield within the field of soft robotics. The compliant limbs of soft-limbed robots offer numerous benefits, including the ability to regulate impacts, tolerate falls, and…
This paper introduces the Stoch BiRo, a cost-effective bipedal robot designed with a modular mechanical structure having point feet to navigate uneven and unfamiliar terrains. The robot employs proprioceptive actuation in abduction, hips,…
Nowadays, design and development of legged quadruped robots is a quite active area of scientific research. In fact, the legged robots have become popular due to their capabilities to adapt to harsh terrains and diverse environmental…
Purpose of Review: As new technological advancements are made, humanoid robots that utilise them are being designed and manufactured. For optimal design choices, a broad overview with insight on the advantages and disadvantages of available…
Accurate and precise terrain estimation is a difficult problem for robot locomotion in real-world environments. Thus, it is useful to have systems that do not depend on accurate estimation to the point of fragility. In this paper, we…
Bipedal balance is challenging due to its multi-phase, hybrid nature and high-dimensional state space. Traditional balance control approaches for bipedal robots rely on low-dimensional models for locomotion planning and reactive control,…
This paper introduces a chain-driven, sandwich-legged mid-size quadruped robot designed as an accessible research platform. The design prioritizes enhanced locomotion, improved actuation reliability and safety, and simplified,…
We present an open-source untethered quadrupedal soft robot platform for dynamic locomotion (e.g., high-speed running and backflipping). The robot is mostly soft (80 vol.%) while driven by four geared servo motors. The robot's soft body and…
During the development of wearable exoskeletons, evaluations involving human subjects pose inherent safety risks. Therefore, systematic testing is often conducted using robots that emulate human motion. However, reproducing human movements…