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Humanoid robots, characterized by numerous degrees of freedom and a high center of gravity, are inherently unstable. Safe omnidirectional locomotion on stairs requires both omnidirectional terrain perception and reliable foothold selection.…
In recent years, legged and wheeled-legged robots have gained prominence for tasks in environments predominantly created for humans across various domains. One significant challenge faced by many of these robots is their limited capability…
Bipedal humanoid robots must precisely coordinate balance, timing, and contact decisions when locomoting on constrained footholds such as stepping stones, beams, and planks -- even minor errors can lead to catastrophic failure. Classical…
Robust humanoid stair climbing remains challenging due to geometric discontinuities, sensitivity to step height variations, and perception uncertainty in real-world environments. Existing learning-based locomotion policies often rely on…
Synthesizing a stable gait that enables a quadruped robot to climb stairs is the focus of this paper. To this end, first a stable transition from initial to desired configuration is made based on the minimum number of steps and maximum use…
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…
Humanoid robots have the promise of locomoting like humans, including fast and dynamic running. Recently, reinforcement learning (RL) controllers that can mimic human motions have become popular as they can generate very dynamic behaviors,…
Stabilizing unsecured payloads against the inherent oscillations of dynamic bipedal locomotion remains a critical engineering bottleneck for humanoids in unstructured environments. To solve this, we introduce ReST-RL, a hierarchical…
Human-robot walking with prosthetic legs and exoskeletons, especially over complex terrains such as stairs, remains a significant challenge. Egocentric vision has the unique potential to detect the walking environment prior to physical…
Standing-up control is crucial for humanoid robots, with the potential for integration into current locomotion and loco-manipulation systems, such as fall recovery. Existing approaches are either limited to simulations that overlook…
Deep reinforcement learning (RL) based controllers for legged robots have demonstrated impressive robustness for walking in different environments for several robot platforms. To enable the application of RL policies for humanoid robots in…
Simulation-based reinforcement learning (RL) has significantly advanced humanoid locomotion tasks, yet direct real-world RL from scratch or adapting from pretrained policies remains rare, limiting the full potential of humanoid robots.…
Traversing narrow paths is challenging for humanoid robots due to the sparse and safety-critical footholds required. Purely template-based or end-to-end reinforcement learning-based methods suffer from such harsh terrains. This paper…
Falling is an inherent risk of humanoid mobility. Maintaining stability is thus a primary safety focus in robot control and learning, yet no existing approach fully averts loss of balance. When instability does occur, prior work addresses…
Parkour is a grand challenge for legged locomotion, even for quadruped robots, requiring active perception and various maneuvers to overcome multiple challenging obstacles. Existing methods for humanoid locomotion either optimize a…
Quadruped robots are employed in various scenarios in building construction. However, autonomous stair climbing across different indoor staircases remains a major challenge for robot dogs to complete building construction tasks. In this…
Achieving highly dynamic behaviors on humanoid robots, such as running, requires controllers that are both robust and precise, and hence difficult to design. Classical control methods offer valuable insight into how such systems can…
Bipedal locomotion makes humanoid robots inherently prone to falls, causing catastrophic damage to the expensive sensors, actuators, and structural components of full-scale robots. To address this critical barrier to real-world deployment,…
Humanoid robots maintain balance and navigate by controlling the contact wrenches applied to the environment. While it is possible to plan dynamically-feasible motion that applies appropriate wrenches using existing methods, a humanoid may…
We consider dynamic stair climbing with the HRP-4 humanoid robot as part of an Airbus manufacturing use-case demonstrator. We share experimental knowledge gathered so as to achieve this task, which HRP-4 had never been challenged to before.…