Related papers: Learning Omnidirectional Locomotion for a Salamand…
Quadrupedal robots have played a crucial role in various environments, from structured environments to complex harsh terrains, thanks to their agile locomotion ability. However, these robots can easily lose their locomotion functionality if…
Quadruped robots are progressively being integrated into human environments. Despite the growing locomotion capabilities of quadrupedal robots, their interaction with objects in realistic scenes is still limited. While additional robotic…
We present an imitation learning framework that extracts distinctive legged locomotion behaviors and transitions between them from unlabeled real-world motion data. By automatically discovering behavioral modes and mapping user steering…
Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system,…
Humanoid robots are made to resemble humans but their locomotion abilities are far from ours in terms of agility and versatility. When humans walk on complex terrains, or face external disturbances, they combine a set of strategies,…
Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…
Legged robot research is presently focused on bipedal or quadrupedal robots, despite capabilities to build robots with many more legs to potentially improve locomotion performance. This imbalance is not necessarily due to hardware…
In this paper, we propose a robust controller that achieves natural and stably fast locomotion on a real blind quadruped robot. With only proprioceptive information, the quadruped robot can move at a maximum speed of 10 times its body…
Previous studies have successfully demonstrated agile and robust locomotion in challenging terrains for quadrupedal robots. However, the bipedal locomotion mode for quadruped robots remains unverified. This paper explores the adaptation of…
We focus on the problem of developing energy efficient controllers for quadrupedal robots. Animals can actively switch gaits at different speeds to lower their energy consumption. In this paper, we devise a hierarchical learning framework,…
We tackle the problem of perceptive locomotion in dynamic environments. In this problem, a quadrupedal robot must exhibit robust and agile walking behaviors in response to environmental clutter and moving obstacles. We present a…
Robots excel at avoiding obstacles but struggle to traverse complex 3-D terrain with cluttered large obstacles. By contrast, insects like cockroaches excel at doing so. Recent research in our lab elucidated how locomotor transitions emerge…
Like mammals, robots must rapidly learn to control their bodies and interact with their environment despite incomplete knowledge of their body structure and surroundings. They must also adapt to continuous changes in both. This work…
We present Oncilla robot, a novel mobile, quadruped legged locomotion machine. This large-cat sized, 5.1 robot is one of a kind of a recent, bioinspired legged robot class designed with the capability of model-free locomotion control.…
This study explores the dynamics of asymmetrical bounding gaits in quadrupedal robots, focusing on the integration of torso pitching and hip motion to enhance speed and stability. Traditional control strategies often enforce a fixed…
This paper represents an adaptive rhythmic control for a snake-like robot with 25 degrees of freedom. The adaptive gait control is implemented in algorithmic way in simulation and on a real robot. We investigated behavioral and energetic…
In this paper, we present a general learning framework for controlling a quadruped robot that can mimic the behavior of real animals and traverse challenging terrains. Our method consists of two steps: an imitation learning step to learn…
Quadruped locomotion is rapidly maturing to a degree where robots are able to realise highly dynamic manoeuvres. However, current planners are unable to vary key gait parameters of the in-swing feet midair. In this work we address this…
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…
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…