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The control of bipedal robotic walking remains a challenging problem in the domains of computation and experiment, due to the multi-body dynamics and various sources of uncertainty. In recent years, there has been a rising trend towards…
The Cassie bipedal robot designed by Agility Robotics is providing academics a common platform for sharing and comparing algorithms for locomotion, perception, and navigation. This paper focuses on feedback control for standing and walking…
Bipedal robots promise the ability to traverse rough terrain quickly and efficiently, and indeed, humanoid robots can now use strong ankles and careful foot placement to traverse discontinuous terrain. However, more agile underactuated…
In this work, we propose a learning approach for 3D dynamic bipedal walking when footsteps are constrained to stepping stones. While recent work has shown progress on this problem, real-world demonstrations have been limited to relatively…
Practical bipedal robot locomotion needs to be both energy efficient and robust to variability and uncertainty. In this paper, we build upon recent works in trajectory optimization for robot locomotion with two primary goals. First, we wish…
Not until recently, robust bipedal locomotion has been achieved through reinforcement learning. However, existing implementations rely heavily on insights and efforts from human experts, which is costly for the iterative design of robot…
For legged robots to match the athletic capabilities of humans and animals, they must not only produce robust periodic walking and running, but also seamlessly switch between nominal locomotion gaits and more specialized transient…
Energy efficiency is a critical factor in the performance and autonomy of quadrupedal robots. While previous research has focused on mechanical design and actuation improvements, the impact of gait parameters on energetics has been less…
Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical reality. This is due to continued progress in three key areas: a mathematical understanding of locomotion, the computational ability to encode this…
Recently, work on reinforcement learning (RL) for bipedal robots has successfully learned controllers for a variety of dynamic gaits with robust sim-to-real demonstrations. In order to maintain balance, the learned controllers have full…
It is often overlooked by roboticists when designing locomotion controllers for their legged machines, that energy consumption plays an important role in selecting the best gaits for locomotion at high speeds or over long distances. The…
One of the big attractions of low-dimensional models for gait design has been the ability to compute solutions rapidly, whereas one of their drawbacks has been the difficulty in mapping the solutions back to the target robot. This paper…
This work explores an innovative algorithm designed to enhance the mobility of underactuated bipedal robots across challenging terrains, especially when navigating through spaces with constrained opportunities for foot support, like steps…
Galloping is a common high-speed gait in both animals and quadrupedal robots, yet its energetic characteristics remain insufficiently explored. This study systematically analyzes a large number of possible galloping gaits by categorizing…
It remains challenging to achieve human-like locomotion in legged robots due to fundamental discrepancies between biological and mechanical structures. Although imitation learning has emerged as a promising approach for generating natural…
Stable bipedal walking is a key prerequisite for humanoid robots to reach their potential of being versatile helpers in our everyday environments. Bipedal walking is, however, a complex motion that requires the coordination of many degrees…
Typically, learned robot controllers are trained via relatively unsystematic regimens and evaluated with coarse-grained outcome measures such as average cumulative reward. The typical approach is useful to compare learning algorithms but…
We have been developing human-sized biped robots based on passive dynamic mechanisms. In human locomotion, the muscles activate at the same rate relative to the gait cycle during running. To achieve adaptive running for robots, such…
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…
This paper systematically decomposes a quadrupedal robot into bipeds to rapidly generate walking gaits and then recomposes these gaits to obtain quadrupedal locomotion. We begin by decomposing the full-order, nonlinear and hybrid dynamics…