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Fully leveraging the loco-manipulation capabilities of a quadruped robot equipped with a robotic arm is non-trivial, as it requires controlling all degrees of freedom (DoFs) of the quadruped robot to achieve effective whole-body…
Quadruped robots are designed to achieve agile and robust locomotion by drawing inspiration from legged animals. However, most existing control methods for quadruped robots lack a key capacity observed in animals: the ability to exhibit…
Designing agile locomotion for quadruped robots often requires extensive expertise and tedious manual tuning. In this paper, we present a system to automate this process by leveraging deep reinforcement learning techniques. Our system can…
Quadrupedal loco-manipulation is commonly built on visual perception and proprioception. Yet reliable contact-rich manipulation remains difficult: vision and proprioception alone cannot resolve uncertain, evolving interactions with the…
Autonomous learning of object manipulation skills can enable robots to acquire rich behavioral repertoires that scale to the variety of objects found in the real world. However, current motion skill learning methods typically restrict the…
This paper presents a motion planning algorithm for quadruped locomotion based on density functions. We decompose the locomotion problem into a high-level density planner and a model predictive controller (MPC). Due to density functions…
Transferring multiple objects between bins is a common task for many applications. In robotics, a standard approach is to pick up one object and transfer it at a time. However, grasping and picking up multiple objects and transferring them…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
Controlled execution of dynamic motions in quadrupedal robots, especially those with articulated soft bodies, presents a unique set of challenges that traditional methods struggle to address efficiently. In this study, we tackle these…
This study explores the dynamics of asymmetrical bounding gaits in quadrupedal robots, focusing on the integration of torso pitching and hip motion to enhance speed and stability. Traditional control strategies often enforce a fixed…
Legged robots navigating crowded scenes and complex terrains in the real world are required to execute dynamic leg movements while processing visual input for obstacle avoidance and path planning. We show that a quadruped robot can acquire…
Quadruped animals are capable of exhibiting a diverse range of locomotion gaits. While progress has been made in demonstrating such gaits on robots, current methods rely on motion priors, dynamics models, or other forms of extensive manual…
Taking inspiration from the natural gait transition mechanism of quadrupeds, devising a good gait transition strategy is important for quadruped robots to achieve energy-efficient locomotion on various terrains and velocities. While…
This paper presents a sim-to-real approach that enables legged robots to dynamically manipulate large and heavy objects with whole-body dexterity. Our key insight is that by performing test-time steering of a pre-trained whole-body control…
Task space trajectory tracking for quadruped robots plays a crucial role on achieving dexterous maneuvers in unstructured environments. To fulfill the control objective, the robot should apply forces through the contact of the legs with the…
Litter pollution represents a growing environmental problem affecting natural and urban ecosystems worldwide. Waste discarded in public spaces often accumulates in areas that are difficult to access, such as uneven terrains, coastal…
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…
Robotic collaborative carrying could greatly benefit human activities like warehouse and construction site management. However, coordinating the simultaneous motion of multiple robots represents a significant challenge. Existing works…
We introduce UMI-on-Legs, a new framework that combines real-world and simulation data for quadruped manipulation systems. We scale task-centric data collection in the real world using a hand-held gripper (UMI), providing a cheap way to…
Legged robots with advanced manipulation capabilities have the potential to significantly improve household duties and urban maintenance. Despite considerable progress in developing robust locomotion and precise manipulation methods,…