Related papers: LEVA: A high-mobility logistic vehicle with legged…
Humanoid robots deployed in industrial environments are required to perform load-carrying transportation tasks that tightly couple locomotion and manipulation. However, achieving stable and robust locomotion under varying payloads and…
The heavy-load legged robot has strong load carrying capacity and can adapt to various unstructured terrains. But the large weight results in higher requirements for motion stability and environmental perception ability. In order to utilize…
In this paper, we introduce a multi robot payload transport system to carry payloads through an environment of unknown and uneven inclinations while maintaining the desired orientation of the payload. For this task, we used custom built…
Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or otherwise inaccessible environments. Although most legged robotics research to date typically focuses on traversing these challenging environments,…
Search and rescue (SAR) robots are required to quickly traverse terrain and perform high-force rescue tasks, necessitating both terrain adaptability and controlled high-force output. Few platforms exist today for SAR, and fewer still have…
This paper introduces SCALER, a quadrupedal robot that demonstrates climbing on bouldering walls, overhangs, ceilings and trotting on the ground. SCALER is one of the first high-degrees of freedom four-limbed robots that can free-climb…
Rescue missions in mountain environments are hardly achievable by standard legged robots-because of the high slopes-or by flying robots-because of limited payload capacity. We present a concept for a rope-aided climbing robot which can…
The potential of Martian lava tubes for resource extraction and habitat sheltering highlights the need for robots capable to undertake the grueling task of their exploration. Driven by this motivation, in this work we introduce a legged…
Mountain slopes are perfect examples of harsh environments in which humans are required to perform difficult and dangerous operations such as removing unstable boulders, dangerous vegetation or deploying safety nets. A good replacement for…
This paper proposes to solve the problem of Vision-and-Language Navigation with legged robots, which not only provides a flexible way for humans to command but also allows the robot to navigate through more challenging and cluttered scenes.…
This paper presents SCALER, a versatile free-climbing multi-limbed robot that is designed to achieve tightly coupled simultaneous locomotion and dexterous grasping. While existing quadrupedal-limbed robots have demonstrated impressive…
Magnetic Levitation (MagLev) systems fundamentally increase the flexibility of in-machine material flow in industrial automation. Therefore, these systems enable dynamic throughput optimization, which is especially beneficial for high-mix…
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…
In disaster response and situation assessment, robots have great potential in reducing the risks to the safety and health of first responders. As the situations encountered and the required capabilities of the robots deployed in such…
We present the design of a new robotic human augmentation system that will assist the operator in carrying a heavy payload, reaching and maintaining difficult postures, and ultimately better performing their job. The Extra Robotic Legs…
In this paper, we describe the mechanical design, system overview, integration and control techniques associated with SKALA, a unique large-sized robot for carrying a person with physical disabilities, up and down staircases. As a regular…
Agile-legged robots have proven to be highly effective in navigating and performing tasks in complex and challenging environments, including disaster zones and industrial settings. However, these applications normally require the capability…
Most birds can navigate seamlessly between aerial and terrestrial environments. Whereas the forelimbs evolved into wings primarily for flight, the hindlimbs serve diverse functions such as walking, hopping, and leaping, and jumping take-off…
In lunar and planetary exploration, legged robots have attracted significant attention as an alternative to conventional wheeled robots, which struggle to traverse rough and uneven terrain. To enable locomotion over highly irregular and…
Computing stabilizing and optimal control actions for legged locomotion in real time is difficult due to the nonlinear, hybrid, and high dimensional nature of these robots. The hybrid nature of the system introduces a combination of…