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When a big and heavy robot moves, it exerts large forces on the environment and on its own structure, its angular momentum can varysubstantially, and even the robot's structure can deform if there is a mechanical weakness. Under these…
In the fields of robotics and biomechanics, the integration of elastic elements such as springs and tendons in legged systems has long been recognized for enabling energy-efficient locomotion. Yet, a significant challenge persists:…
Current studies on human locomotion focus mainly on solid ground walking conditions. In this paper, we present a biomechanic comparison of human walking locomotion on solid ground and sand. A novel dataset containing 3-dimensional motion…
In this paper, a simple trajectory generation method for biped walking is proposed. The dynamic model of the five link bipedal robot is first reduced using several biologically inspired assumptions. A sinusoidal curve is then imposed to the…
We propose an online motion planner for legged robot locomotion with the primary objective of achieving energy efficiency. The conceptual idea is to leverage a placement set of footstep positions based on the robot's body position to…
The quest for the efficient adaptation of multilegged robotic systems to changing conditions is expected to render new insights into robotic control and locomotion. In this paper, we study the performance frontiers of the enumerative…
This paper presents a novel Adaptive-frequency MPC framework for bipedal locomotion over terrain with uneven stepping stones. In detail, we intend to achieve adaptive foot placement and gait period for bipedal periodic walking gait with…
Achieving effective locomotion on diverse terrestrial substrates can require subtle changes of limb kinematics. Biologically inspired legged robots (physical models of organisms) have shown impressive mobility on hard ground but suffer…
Legged locomotion on flowing ground ({\em e.g.} granular media) is unlike locomotion on hard ground because feet experience both solid- and fluid-like forces during surface penetration. Recent bio-inspired legged robots display speed…
Gait and static body measurement are important biometric technologies for passive human recognition. Many previous works argue that recognition performance based completely on the gait feature is limited. The reason for this limited…
Performing trajectory design for humanoid robots with high degrees of freedom is computationally challenging. The trajectory design process also often involves carefully selecting various hyperparameters and requires a good initial guess…
A four-legged robot has learned to run on sand at faster pace than humans jog on solid ground. With low energy use and few failures, this rapid robot shows the value of combining data-driven learning with accurate yet simple models.
The biomechanics of the human body gives subjects a high degree of freedom in how they can execute movement. Nevertheless, subjects exhibit regularity in their movement patterns. One way to account for this regularity is to suppose that…
Replicating the remarkable athleticism seen in animals has long been a challenge in robotics control. Although Reinforcement Learning (RL) has demonstrated significant progress in dynamic legged locomotion control, the substantial…
The paper presents a planner to generate walking trajectories by using the centroidal dynamics and the full kinematics of a humanoid robot. The interaction between the robot and the walking surface is modeled explicitly via new conditions,…
This study introduces a robust planning framework that utilizes a model predictive control (MPC) approach, enhanced by incorporating signal temporal logic (STL) specifications. This marks the first-ever study to apply STL-guided trajectory…
Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the robot without interfering with the target direction and speed…
The application of biomechanic and motor control models in the control of bidedal robots (humanoids, and exoskeletons) has revealed limitations of our understanding of human locomotion. A recently proposed model uses the potential energy…
The design of gaits for robot locomotion can be a daunting process which requires significant expert knowledge and engineering. This process is even more challenging for robots that do not have an accurate physical model, such as compliant…
Limitations in actuation, sensing, and computation have forced small legged robots to rely on carefully tuned, mechanically mediated leg trajectories for effective locomotion. Recent advances in manufacturing, however, have enabled the…