Related papers: Quadrupeds for Planetary Exploration: Field Testin…
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.…
In this paper, we improve upon a method for optimal control of quadrupedal robots which utilizes a full-order model of the system. The original method utilizes offline nonlinear optimal control to synthesize a control scheme which…
As robotic agents increasingly assist humans in reality, quadruped robots offer unique opportunities for interaction in complex scenarios due to their agile movement. However, building agents that can autonomously navigate, adapt, and…
Quadruped robots demonstrate exceptional potential for navigating complex terrain in critical applications such as search and rescue missions and infrastructure inspection However autonomous traversal of confined 3D environments including…
Multimodal locomotion capability is an emerging topic in robotics field, and various novel mobile robots have been developed to enable the maneuvering in both terrestrial and aerial domains. Among these hybrid robots, several…
Nowadays, design and development of legged quadruped robots is a quite active area of scientific research. In fact, the legged robots have become popular due to their capabilities to adapt to harsh terrains and diverse environmental…
This work introduces a novel approach for Titan exploration based on soft morphing aerial robots leveraging the use of flexible adaptive materials. The controlled deformation of the multirotor arms, actuated by a combination of a pneumatic…
Locomotion has seen dramatic progress for walking or running across challenging terrains. However, robotic quadrupeds are still far behind their biological counterparts, such as dogs, which display a variety of agile skills and can use the…
Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These techniques are commonly seen in nature, such as Chukar birds…
Legged locomotion enables robotic systems to traverse extremely challenging terrains. In many real-world scenarios, the terrain is not that difficult and these mixed terrain types introduce the need for flexible use of different walking…
Quadruped robots have made significant advances in locomotion, extending their capabilities from controlled environments to real-world applications. Beyond movement, recent work has explored loco-manipulation using the legs to perform tasks…
Designing agile locomotion for quadruped robots often requires extensive expertise and tedious manual tuning. In this paper, we present a system to automate this process by leveraging deep reinforcement learning techniques. Our system can…
Long-distance driving is an important component of planetary surface exploration. Unforeseen events often require human operators to adjust mobility plans, but this approach does not scale and will be insufficient for future missions.…
Quadruped robots demonstrate robust and agile movements in various terrains; however, their navigation autonomy is still insufficient. One of the challenges is that the motion capabilities of the quadruped robot are anisotropic along…
This paper documents a case study in agent-driven autonomous reinforcement learning research for quadruped locomotion. The setting was not a fully self-starting research system. A human provided high-level directives through an agentic…
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…
The potential of Martian lava tubes for resource extraction and habitat sheltering highlights the need for robots capable to undertake the grueling task of their exploration. Driven by this motivation, in this work we introduce a legged…
The deployment of robots in industrial and civil scenarios is a viable solution to protect operators from danger and hazards. Shared autonomy is paramount to enable remote control of complex systems such as legged robots, allowing the…
This paper presents modeling and simulation of a spined quadruped robot. Extended literature survey is employed and spine joints researches of the quadruped robots are classified. Most of the researchers execute simplified quadruped robot…
Quadruped robots are often designed with rigid feet to simplify control and maintain stable contact during locomotion. While this approach is straightforward, it limits the ability of the legs to absorb impact forces and reuse stored…