Related papers: An adaptive hierarchical control framework for qua…
The enhanced mobility brought by legged locomotion empowers quadrupedal robots to navigate through complex and unstructured environments. However, optimizing agile locomotion while accounting for the varying energy costs of traversing…
Humanoid robots offer significant advantages for search and rescue tasks, thanks to their capability to traverse rough terrains and perform transportation tasks. In this study, we present a task and motion planning framework for search and…
Autonomous wheeled-legged robots have the potential to transform logistics systems, improving operational efficiency and adaptability in urban environments. Navigating urban environments, however, poses unique challenges for robots,…
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'…
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…
Quadrupeds are strong candidates for navigating challenging environments because of their agile and dynamic designs. This paper presents a methodology that extends the range of exploration for quadrupedal robots by creating an end-to-end…
The popularity of mobile robots has been steadily growing, with these robots being increasingly utilized to execute tasks previously completed by human workers. For bipedal robots to see this same success, robust autonomous navigation…
Multi-legged mobile robots possess high mobility performance in rough terrain environments, stemming from their high postural stability, joint flexibility, and the redundancy provided by multiple legs. In prior research on navigating…
Legged robots have demonstrated high efficiency and effectiveness in unstructured and dynamic environments. However, it is still challenging for legged robots to achieve rapid and efficient locomotion on deformable, yielding substrates,…
We show dynamic locomotion strategies for wheeled quadrupedal robots, which combine the advantages of both walking and driving. The developed optimization framework tightly integrates the additional degrees of freedom introduced by the…
Soft pneumatic legged robots show promise in their ability to traverse a range of different types of terrain, including natural unstructured terrain met in applications like precision agriculture. They can adapt their body morphology to the…
Robots operating in the real world will experience a range of different environments and tasks. It is essential for the robot to have the ability to adapt to its surroundings to work efficiently in changing conditions. Evolutionary robotics…
Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…
We describe a framework for changing-contact robot manipulation tasks that require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a…
This paper presents a hierarchical control framework that enables robust quadrupedal locomotion on a dynamic rigid surface (DRS) with general and unknown vertical motions. The key novelty of the framework lies in its higher layer, which is…
Reinforcement learning-based quadruped robots excel across various terrains but still lack the ability to swim in water due to the complex underwater environment. This paper presents the development and evaluation of a data-driven…
Due to their ability to adapt to different terrains, quadruped robots have drawn much attention in the research field of robot learning. Legged mobile manipulation, where a quadruped robot is equipped with a robotic arm, can greatly enhance…
Quadrupedal robots resemble the physical ability of legged animals to walk through unstructured terrains. However, designing a controller for quadrupedal robots poses a significant challenge due to their functional complexity and requires…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…