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As a single-track mobile platform, bikebot (i.e., bicycle-based robot) has attractive navigation capability to pass through narrow, off-road terrain with high-speed and high-energy efficiency. However, running crossing step-like obstacles…
Legged robots promise higher versatility and the ability to traverse much more difficult terrains than their wheeled counterparts. Even though the use of legged robots have increased drastically in the last few years, they are still not…
Wheeled bipedal robots are emerging as flexible platforms for field exploration. However, head instability induced by uneven terrain can degrade the accuracy of onboard sensors or damage fragile payloads. Existing research primarily focuses…
Navigating a large-scaled robot in unknown and cluttered height-constrained environments is challenging. Not only is a fast and reliable planning algorithm required to go around obstacles, the robot should also be able to change its…
This paper presents a neural network (NN) based adaptive feedback regulator to ensure the lateral and longitudinal stability and regulate the desired walking velocity of a lower-limb exoskeleton under model uncertainty. The traditional…
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…
This paper presents a systematic approach to exponentially stabilize the periodic orbits of multi-domain hybrid systems arising from 3D bipedal walking. Firstly, the method of Poincare sections is extended to the hybrid systems with…
Soft pneumatic legged robots show promise in their ability to traverse a range of different types of terrain, including natural unstructured terrain met in applications like precision agriculture. They can adapt their body morphology to the…
Achieving robust legged locomotion on complex terrains poses challenges due to the high uncertainty in robot-environment interactions. Recent advances in bipedal and quadrupedal robots demonstrate good mobility on rugged terrains but rely…
Model predictive control (MPC) has demonstrated effectiveness for humanoid bipedal locomotion; however, its applicability in challenging environments, such as rough and slippery terrain, is limited by the difficulty of modeling terrain…
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…
Planning whole-body motions while taking into account the terrain conditions is a challenging problem for legged robots since the terrain model might produce many local minima. Our coupled planning method uses stochastic and…
This paper presents an online framework for synthesizing agile locomotion for bipedal robots that adapts to unknown environments, modeling errors, and external disturbances. To this end, we leverage step-to-step (S2S) dynamics which has…
In this work, the hierarchical control strategy of template-based control for a bipedal robot is described. The axial force of a compliant leg is redirected to a point, called the virtual pivot point (VPP), of a 2D biped robot, which is…
Bipedal robots are essentially unstable because of their complex kinematics as well as high dimensional state space dynamics, hence control and generation of stable walking is a complex subject and still one of the active topics in the…
Robust and energy-efficient bipedal locomotion in robotics is still a challenging topic. In order to address issues in this field, we can take inspiration from nature, by studying human locomotion. The Spring-Loaded Inverted Pendulum (SLIP)…
Gait control of legged robotic walkers on dynamically moving surfaces (e.g., ships and vehicles) is challenging due to the limited balance control actuation and unknown surface motion. We present a contingent model predictive control (CMPC)…
For humanoid robots to live up to their potential utility, they must be able to robustly recover from instabilities. In this work, we propose a number of balance enhancements to enable the robot to both achieve specific, desired footholds…
A great advantage of legged robots is their ability to operate on particularly difficult and obstructed terrain, which demands dynamic, robust, and precise movements. The study of obstacle courses provides invaluable insights into the…
Humanoid robots can, in principle, use their legs to go almost anywhere. Developing controllers capable of traversing diverse terrains, however, remains a considerable challenge. Classical controllers are hard to generalize broadly while…