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This work developed a learning framework for perceptive legged locomotion that combines visual feedback, proprioceptive information, and active gait regulation of foot-ground contacts. The perception requires only one forward-facing camera…
Torque control algorithms which consider robot dynamics and contact constraints are important for creating dynamic behaviors for humanoids. As computational power increases, algorithms tend to also increase in complexity. However, it is not…
This paper addresses several critical stages of designing a walking robot, including optimal structural synthesis, introducing a novel 'rational' mechanical structure aimed at enhancing efficiency and simplifying control system, while…
In trying to build humanoid robots that perform useful tasks in a world built for humans, we address the problem of autonomous locomotion. Humanoid robot planning and control algorithms for walking over rough terrain are becoming…
This paper presents a system for enabling real-time synthesis of whole-body locomotion and manipulation policies for real-world legged robots. Motivated by recent advancements in robot simulation, we leverage the efficient parallelization…
Legged machines are becoming increasingly agile and adaptive but they have so far lacked the morphological diversity of legged animals, which have been rearranged and reshaped to fill millions of niches. Unlike their biological…
Legged locomotion is a complex control problem that requires both accuracy and robustness to cope with real-world challenges. Legged systems have traditionally been controlled using trajectory optimization with inverse dynamics. Such…
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…
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 letter, we formulate a novel Markov Decision Process (MDP) for safe and data-efficient learning for humanoid locomotion aided by a dynamic balancing model. In our previous studies of biped locomotion, we relied on a low-dimensional…
Animals achieve robust locomotion by offloading regulation from the brain to physical couplings within the body. In contrast, locomotion in artificial systems often depends on centralized processors. We introduce a rapid and autonomous…
This paper presents a modular approach to motion planning with provable stability guarantees for robots that move through changing environments via periodic locomotion behaviors. We focus on dynamic walkers as a paradigm for such systems,…
This work presents a motion retargeting approach for legged robots, aimed at transferring the dynamic and agile movements to robots from source motions. In particular, we guide the imitation learning procedures by transferring motions from…
Humans can balance very well during walking, even when perturbed. But it seems difficult to achieve robust walking for bipedal robots. Here we describe the simplest balance controller that leads to robust walking for a linear inverted…
Quadruped locomotion is rapidly maturing to a degree where robots are able to realise highly dynamic manoeuvres. However, current planners are unable to vary key gait parameters of the in-swing feet midair. In this work we address this…
Planning locomotion trajectories for legged microrobots is challenging because of their complex morphology, high frequency passive dynamics, and discontinuous contact interactions with their environment. Consequently, such research is often…
In this work, we demonstrate robust walking in the bipedal robot Digit on uneven terrains by just learning a single linear policy. In particular, we propose a new control pipeline, wherein the high-level trajectory modulator shapes the…
This paper presents a state-of-the-art optimal controller for quadruped locomotion. The robot dynamics is represented using a single rigid body (SRB) model. A linear time-varying model predictive controller (LTV MPC) is proposed by using…
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…
This paper represents an adaptive rhythmic control for a snake-like robot with 25 degrees of freedom. The adaptive gait control is implemented in algorithmic way in simulation and on a real robot. We investigated behavioral and energetic…