Related papers: A Reconfigured Wheel-Legged Robot for Enhanced Ste…
Most locomotion methods for humanoid robots focus on leg-based gaits, yet natural bipeds frequently rely on hands, knees, and elbows to establish additional contacts for stability and support in complex environments. This paper introduces…
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.…
This paper introduces two field transportation robots. Both robots are equipped with transformable wheel-leg modules, which can smoothly switch between operation modes and can work in various challenging terrains. SWhegPro, with six…
Wheeled-legged robots, which have wheels at their feet and achieve high mobility by coordinating wheel drive and leg drive, have been developed. These robots have been developed purely as platforms specialized for locomotion. Therefore,…
The integration of Supernumerary Limbs (SLs) on humanoid robots poses a significant stability challenge due to the dynamic perturbations they introduce. This thesis addresses this issue by designing a novel hierarchical control architecture…
Flapping-wing robots offer significant versatility; however, achieving efficient multi-modal locomotion remains challenging. This paper presents the design, modeling, and experimentation of a novel tailless flapping-wing robot with three…
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…
In this paper, we propose a novel approach on controlling wheel-legged quadrupedal robots using pose optimization and force control via quadratic programming (QP). Our method allows the robot to leverage the whole-body motion and the wheel…
Wheeled-legged robots combine the efficiency of wheeled robots when driving on suitably flat surfaces and versatility of legged robots when stepping over or around obstacles. This paper introduces a planning and control framework to realise…
Legged locomotion is a highly promising but under-researched subfield within the field of soft robotics. The compliant limbs of soft-limbed robots offer numerous benefits, including the ability to regulate impacts, tolerate falls, and…
Animals locomote robustly and agile, albeit significant sensorimotor delays of their nervous system. The sensorimotor control of legged robots is implemented with much higher frequencies-often in the kilohertz range-and sensor and actuator…
This paper addresses the design and development of an autonomous biped robot using master and worker combination of controllers. In addition, the bot is wirelessly controllable. The work presented here explains the walking pattern, system…
Controlling Wheeled-legged robots is challenging especially on slippery surfaces due to their dependence on continuous ground contact. Unlike quadrupeds or bipeds, which can leverage multiple fixed contact points for recovery,…
A novel kinematically redundant (6+3)-DoF parallel robot is presented in this paper. Three identical 3-DoF RU/2-RUS legs are attached to a configurable platform through spherical joints. With the selected leg mechanism, the motors are…
Humans possess delicate dynamic balance mechanisms that enable them to maintain stability across diverse terrains and under extreme conditions. However, despite significant advances recently, existing locomotion algorithms for humanoid…
Loco-manipulation of quadrupedal robots has broadened robotic applications, but using legs as manipulators often compromises locomotion, while mounting arms complicates the system. To mitigate this issue, we introduce bipedalism for…
Reinforcement learning (RL) has demonstrated impressive performance in legged locomotion over various challenging environments. However, due to the sim-to-real gap and lack of explainability, unconstrained RL policies deployed in the real…
Wheeled bipedal robots (WBRs) have the capability to execute agile and versatile locomotion tasks. This paper focuses on improving the dynamic performance of WBRs through innovations in both hardware and software development. Inspired by…
Humanoid robots have attracted significant attention in recent years. Reinforcement Learning (RL) is one of the main ways to control the whole body of humanoid robots. RL enables agents to complete tasks by learning from environment…
The waist plays a crucial role in the agile movement of many animals in nature. It provides the torso with additional degrees of freedom and flexibility, inspiring researchers to incorporate this biological feature into robotic structures…