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Crocodiles, known as one of the oldest and most resilient species on Earth, have demonstrated remarkable locomotor abilities both on land and in water, evolving over millennia to adapt to diverse environments. In this paper, we draw…
Quadrupedal animals employ diverse galloping strategies to optimize speed, stability, and energy efficiency. However, the biomechanical mechanisms that enable adaptive gait transitions during high-speed locomotion under load remain poorly…
Learning-based approaches have recently shown notable success in legged locomotion. However, these approaches often lack accountability, necessitating empirical tests to determine their effectiveness. In this work, we are interested in…
Adaptive morphogenetic robots adapt their morphology and control policies to meet changing tasks and environmental conditions. Many such systems leverage soft components, which enable shape morphing but also introduce simulation and control…
The ability to recover from an unexpected external perturbation is a fundamental motor skill in bipedal locomotion. An effective response includes the ability to not just recover balance and maintain stability but also to fall in a safe…
This paper explores the integration of incremental curriculum learning (ICL) with deep reinforcement learning (DRL) techniques to facilitate mobile robot navigation through task-based human instruction. By adopting a curriculum that mirrors…
Along with the advancement of robot skin technology, there has been notable progress in the development of snake robots featuring body-surface tactile perception. In this study, we proposed a locomotion control framework for snake robots…
Legged robots are able to navigate complex terrains by continuously interacting with the environment through careful selection of contact sequences and timings. However, the combinatorial nature behind contact planning hinders the…
In this paper, we will report our efforts in designing closed-loop feedback for the thruster-assisted walking of bipedal robots. We will assume for well-tuned supervisory controllers and will focus on fine-tuning the joints desired…
This paper explores the design strategies for hybrid pole- or trunk-climbing robots, focusing on methods to inform design decisions and assess metrics such as adaptability and performance. A wheeled-grasping hybrid robot with modular,…
A robotic platform for mobile manipulation needs to satisfy two contradicting requirements for many real-world applications: A compact base is required to navigate through cluttered indoor environments, while the support needs to be large…
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…
Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase compliance and increase the range of possible shape…
Empowering robots to navigate in a socially compliant manner is essential for the acceptance of robots moving in human-inhabited environments. Previously, roboticists have developed geometric navigation systems with decades of empirical…
Generally, humanoid robots usually suffer significant impact force when walking or running in a non-predefined environment that could easily damage the actuators due to high stiffness. In recent years, the usages of passive, compliant…
Dynamic bipedal robot locomotion has achieved remarkable success due in part to recent advances in trajectory generation and nonlinear control for stabilization. A key assumption utilized in both theory and experiments is that the robot's…
Realizing bipedal locomotion on humanoid robots with point feet is especially challenging due to their highly underactuated nature, high degrees of freedom, and hybrid dynamics resulting from impacts. With the goal of addressing this…
Multi-legged robots offer enhanced stability to navigate complex terrains with their multiple legs interacting with the environment. However, how to effectively coordinate the multiple legs in a larger action exploration space to generate…
Humanoid robots hold great potential to perform various human-level skills, involving unified locomotion and manipulation in real-world settings. Driven by advances in machine learning and the strength of existing model-based approaches,…
Recent advances in deep reinforcement learning (RL) based techniques combined with training in simulation have offered a new approach to developing robust controllers for legged robots. However, the application of such approaches to real…