Related papers: Autonomous Legged Mobile Manipulation for Lunar Su…
Humanoid robots deployed in industrial environments are required to perform load-carrying transportation tasks that tightly couple locomotion and manipulation. However, achieving stable and robust locomotion under varying payloads and…
Traditional approaches to quadruped control frequently employ simplified, hand-derived models. This significantly reduces the capability of the robot since its effective kinematic range is curtailed. In addition, kinodynamic constraints are…
Bipedal locomotion is a key challenge in robotics, particularly for robots like Bolt, which have a point-foot design. This study explores the control of such underactuated robots using constrained reinforcement learning, addressing their…
Despite the progress in legged robotic locomotion, autonomous navigation in unknown environments remains an open problem. Ideally, the navigation system utilizes the full potential of the robots' locomotion capabilities while operating…
Automatic fall recovery is a crucial prerequisite before humanoid robots can be reliably deployed. Hand-designing controllers for getting up is difficult because of the varied configurations a humanoid can end up in after a fall and the…
Maneuverable tether-net systems launched from an unmanned spacecraft offer a promising solution for the active removal of large space debris. Guaranteeing the successful capture of such space debris is dependent on the ability to reliably…
Precise robotic manipulation skills are desirable in many industrial settings, reinforcement learning (RL) methods hold the promise of acquiring these skills autonomously. In this paper, we explicitly consider incorporating operational…
Shared autonomy provides an effective framework for human-robot collaboration that takes advantage of the complementary strengths of humans and robots to achieve common goals. Many existing approaches to shared autonomy make restrictive…
We present a modular, full-stack autonomy system for lunar surface navigation and mapping developed for the Lunar Autonomy Challenge. Operating in a GNSS-denied, visually challenging environment, our pipeline integrates semantic…
The aim of this work is to enable quadrupedal robots to mount skateboards using Reverse Curriculum Reinforcement Learning. Although prior work has demonstrated skateboarding for quadrupeds that are already positioned on the board, the…
A key challenge in intelligent robotics is creating robots that are capable of directly interacting with the world around them to achieve their goals. The last decade has seen substantial growth in research on the problem of robot…
Equipping active colloidal robots with intelligence such that they can efficiently navigate in unknown complex environments could dramatically impact their use in emerging applications like precision surgery and targeted drug delivery. Here…
As the orbital environment around Earth becomes increasingly crowded with debris, active debris removal (ADR) missions face significant challenges in ensuring safe operations while minimizing the risk of in-orbit collisions. This study…
Reproducing the diverse and agile locomotion skills of animals has been a longstanding challenge in robotics. While manually-designed controllers have been able to emulate many complex behaviors, building such controllers involves a…
We present a unified model-based and data-driven approach for quadrupedal planning and control to achieve dynamic locomotion over uneven terrain. We utilize on-board proprioceptive and exteroceptive feedback to map sensory information and…
Wheeled robots have recently demonstrated superior mechanical capability to traverse vertically challenging terrain (e.g., extremely rugged boulders comparable in size to the vehicles themselves). Negotiating such terrain introduces…
Jumping poses a significant challenge for quadruped robots, despite being crucial for many operational scenarios. While optimisation methods exist for controlling such motions, they are often time-consuming and demand extensive knowledge of…
Quadruped robots are increasingly used in various applications due to their high mobility and ability to operate in diverse terrains. However, most available quadruped robots are primarily focused on mobility without object manipulation…
Solving mobile manipulation tasks in inaccessible and dangerous environments is an important application of robots to support humans. Example domains are construction and maintenance of manned and unmanned stations on the moon and other…
Legged robots navigating cluttered environments must be jointly agile for efficient task execution and safe to avoid collisions with obstacles or humans. Existing studies either develop conservative controllers (< 1.0 m/s) to ensure safety,…