Related papers: Bipedal locomotion using geometric techniques
Legged locomotion holds the premise of universal mobility, a critical capability for many real-world robotic applications. Both model-based and learning-based approaches have advanced the field of legged locomotion in the past three…
In this paper, we propose a novel framework capable of generating various walking and running gaits for bipedal robots. The main goal is to relax the fixed center of mass (CoM) height assumption of the linear inverted pendulum model (LIPM)…
Not until recently, robust bipedal locomotion has been achieved through reinforcement learning. However, existing implementations rely heavily on insights and efforts from human experts, which is costly for the iterative design of robot…
The remarkable athletic intelligence displayed by humans in complex dynamic movements such as dancing and gymnastics suggests that the balance mechanism in biological beings is decoupled from specific movement patterns. This decoupling…
This paper presents an algorithm that finds a centroidal motion and footstep plan for a Spring-Loaded Inverted Pendulum (SLIP)-like bipedal robot model substantially faster than real-time. This is achieved with a novel representation of the…
Calculating the inverse kinematics (IK) is a fundamental challenge in robotics. Compared to numerical or learning-based approaches, analytical IK provides higher efficiency and accuracy. However, existing analytical approaches are difficult…
We propose in this paper a motion planning method for legged robot locomotion based on Geometric Heat Flow framework. The motion planning task is challenging due to the hybrid nature of dynamics and contact constraints. We encode the hybrid…
It is important to understand how bipedal walkers balance and walk effectively on granular materials, such as sand and loose dirt, etc. This paper first presents a computational approach to obtain the motion and energy analysis of bipedal…
Robot footstep planning strategies can be divided in two main approaches: discrete searches and continuous optimizations. While discrete searches have been broadly applied, continuous optimizations approaches have been restricted for…
Pedestrian behavior prediction is one of the major challenges for intelligent driving systems. Pedestrians often exhibit complex behaviors influenced by various contextual elements. To address this problem, we propose BiPed, a multitask…
This paper presents a curriculum-based reinforcement learning framework for training precise and high-performance jumping policies for the robot `Olympus'. Separate policies are developed for vertical and horizontal jumps, leveraging a…
Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These techniques are commonly seen in nature, such as Chukar birds…
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…
We have developed biped robots with a passive dynamic walking mechanism. This study proposes a compass model with a wobbling mass connected to the upper body and oscillating in the horizontal direction to clarify the influence of the…
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…
We introduce several bilocal algorithms for lattice self-avoiding walks that provide reasonable models for the physical kinetics of polymers in the absence of hydrodynamic effects. We discuss their ergodicity in different confined…
In this paper, a method for stabilizing biped robots stepping by a combination of Divergent Component of Motion (DCM) tracking and step adjustment is proposed. In this method, the DCM trajectory is generated, consistent with the predefined…
Symmetry manifests itself in legged locomotion in a variety of ways. No matter where a legged system begins to move periodically, the torso and limbs coordinate with each other's movements in a similar manner. Also, in many gaits observed…
Machine learning algorithms have found several applications in the field of robotics and control systems. The control systems community has started to show interest towards several machine learning algorithms from the sub-domains such as…
We consider the problem of inverse kinematics (IK), where one wants to find the parameters of a given kinematic skeleton that best explain a set of observed 3D joint locations. The kinematic skeleton has a tree structure, where each node is…