Related papers: AGILOped: Agile Open-Source Humanoid Robot for Res…
In this paper, we present a novel rolling, jumping robot. The robot consists of a driven pendulum mounted to a wheel in a compact, lightweight, 3D printed design. We show that by driving the pendulum to shift the robot's weight…
Gait generation for soft robots is challenging due to the nonlinear dynamics and high dimensional input spaces of soft actuators. Limitations in soft robotic control and perception force researchers to hand-craft open loop controllers for…
Recent advances in reinforcement learning (RL) have enabled impressive humanoid behaviors in simulation, yet transferring these results to new robots remains challenging. In many real deployments, the primary bottleneck is no longer…
Legged robots have the ability to adapt their walking posture to navigate confined spaces due to their high degrees of freedom. However, this has not been exploited in most common multilegged platforms. This paper presents a deformable…
To function autonomously in the physical world, humanoid robots need high-fidelity sensing systems, especially for forces that cannot be easily modeled. Modeling forces in robot feet is particularly challenging due to static indeterminacy,…
Humanoid robots represent the cutting edge of robotics research, yet their potential in entertainment remains largely unexplored. Entertainment as a field prioritizes visuals and form, a principle that contrasts with the purely functional…
We present a method for humanoid robot walking on partial footholds such as small stepping stones and rocks with sharp surfaces. Our algorithm does not rely on prior knowledge of the foothold, but information about an expected foothold can…
Experiments on physical continuum robot are the gold standard for evaluations. Currently, as no commercial continuum robot platform is available, a large variety of early-stage prototypes exists. These prototypes are developed by individual…
Underwater vehicles have seen significant development over the past seventy years. However, bio-inspired propulsion robots are still in their early stages and require greater interdisciplinary collaboration between biologists and…
This paper introduces PyRobot, an open-source robotics framework for research and benchmarking. PyRobot is a light-weight, high-level interface on top of ROS that provides a consistent set of hardware independent mid-level APIs to control…
Future robots will navigate perilous, remote environments with resilience and autonomy. Researchers have proposed building robots with compliant bodies to enhance robustness, but this approach often sacrifices the autonomous capabilities…
Humanoid robotics is a promising field because the strong human preference to interact with anthropomorphic interfaces. Despite this, humanoid robots are far from reaching main stream adoption and the features available in such robots seem…
Humanoid robots, designed to operate in human-centric environments, serve as a fundamental platform for a broad range of tasks. Although humanoid robots have been extensively studied for decades, a majority of existing humanoid robots still…
Rescue missions in mountain environments are hardly achievable by standard legged robots-because of the high slopes-or by flying robots-because of limited payload capacity. We present a concept for a rope-aided climbing robot which can…
We focus on agile, continuous, and terrain-adaptive jumping of quadrupedal robots in discontinuous terrains such as stairs and stepping stones. Unlike single-step jumping, continuous jumping requires accurately executing highly dynamic…
In recent years, quadruped robots have attracted significant attention due to their practical advantages in maneuverability, particularly when navigating rough terrain and climbing stairs. As these robots become more integrated into various…
Towards the role of humanoid robots as squad mates in urban operations and other domains, we identified doors as a major area lacking capability development. In this paper, we focus on the ability of humanoid robots to navigate and deal…
Advanced machine learning algorithms require platforms that are extremely robust and equipped with rich sensory feedback to handle extensive trial-and-error learning without relying on strong inductive biases. Traditional robotic designs,…
The interest in exploring planetary bodies for scientific investigation and in-situ resource utilization is ever-rising. Yet, many sites of interest are inaccessible to state-of-the-art planetary exploration robots because of the robots'…
We present a method for controlling a simulated humanoid to grasp an object and move it to follow an object's trajectory. Due to the challenges in controlling a humanoid with dexterous hands, prior methods often use a disembodied hand and…