Related papers: Soft Adaptive Feet for Legged Robots: An Open-Sour…
The ability of bipedal robots to adapt to diverse and unstructured terrain conditions is crucial for their deployment in real-world environments. To this end, we present a novel, bio-inspired robot foot design with stabilizing tarsal…
Rigid-bodied robots often lack compliance needed to adapt to unstructured environments, while fully soft robots, though highly adaptable, struggle with scalability and load capacity. In nature, musculoskeletal systems balance strength and…
Recent advancements in legged locomotion research have made legged robots a preferred choice for navigating challenging terrains when compared to their wheeled counterparts. This paper presents a novel locomotion policy, trained using Deep…
Many organisms, including various species of spiders and caterpillars, change their shape to switch gaits and adapt to different environments. Recent technological advances, ranging from stretchable circuits to highly deformable soft…
Much current study of legged locomotion has rightly focused on foot traction forces, including on granular media. Future legged millirobots will need to go through terrain, such as brush or other vegetation, where the body contact forces…
For safe and reliable deployment of any robot controller on the real hardware platform, it is generally a necessary practice to comprehensively assess the performance of the controller with the specific robot in a realistic simulation…
In the first part of this thesis, we present our efforts on experimental validation of the predictive performance of mechanics-based mathematical models on a physical one-legged hopping robot platform. We extend upon a recently proposed…
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…
Locomotion over soft terrain remains a challenging problem for legged robots. Most of the work done on state estimation for legged robots is designed for rigid contacts, and does not take into account the physical parameters of the terrain.…
SLOT (Soft Legged Omnidirectional Tetrapod), a tendon-driven soft quadruped robot with 3D-printed TPU legs, is presented to study physics-informed modeling and control of compliant legged locomotion using only four actuators. Each leg is…
This work represents an initial benchmark of a large-scale soft robot performing physical, collaborative manipulation of a long, extended object with a human partner. The robot consists of a pneumatically-actuated, three-link continuum soft…
Robots built from soft materials can alter their shape and size in a particular profile. This shape-changing ability could be extremely helpful for rescue robots and those operating in unknown terrains and environments. In changing shape,…
Legged locomotion enables robotic systems to traverse extremely challenging terrains. In many real-world scenarios, the terrain is not that difficult and these mixed terrain types introduce the need for flexible use of different walking…
This paper introduces the Terrain Recognition And Contact Force Estimation Paw, a compact and sensorized shoe designed for legged robots. The paw end-effector is made of silicon that deforms upon the application of contact forces, while an…
In the context of legged robots, adaptive behavior involves adaptive balancing and adaptive swing foot reflection. While adaptive balancing counteracts perturbations to the robot, adaptive swing foot reflection helps the robot to navigate…
Humans possess a remarkable ability to react to unpredictable perturbations through immediate mechanical responses, which harness the visco-elastic properties of muscles to maintain balance. Inspired by this behaviour, we propose a novel…
Teleoperated humanoid robots hold significant potential as physical avatars for humans in hazardous and inaccessible environments, with the goal of channeling human intelligence and sensorimotor skills through these robotic counterparts.…
While quadruped robots usually have good stability and load capacity, bipedal robots offer a higher level of flexibility / adaptability to different tasks and environments. A multi-modal legged robot can take the best of both worlds. In…
We propose an online motion planner for legged robot locomotion with the primary objective of achieving energy efficiency. The conceptual idea is to leverage a placement set of footstep positions based on the robot's body position to…
Faced with complex and unstructured construction environments, wheeled and tracked robots exhibit significant limitations in terrain adaptability and flexibility, making it difficult to meet the requirements of autonomous operation.…