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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…
Jumping constitutes an essential component of quadruped robots' locomotion capabilities, which includes dynamic take-off and adaptive landing. Existing quadrupedal jumping studies mainly focused on the stance and flight phase by assuming a…
Permanently Shadowed Regions (PSRs) near the lunar poles are of interest for future exploration due to their potential to contain water ice and preserve geological records. Their complex, uneven terrain favors the use of legged robots,…
Achieving controlled jumping behaviour for a quadruped robot is a challenging task, especially when introducing passive compliance in mechanical design. This study addresses this challenge via imitation-based deep reinforcement learning…
Planetary bodies characterized by low gravitational acceleration, such as the Moon and near-Earth asteroids, impose unique locomotion constraints due to diminished contact forces and extended airborne intervals. Among traversal strategies,…
Dynamic jumping on high platforms and over gaps differentiates legged robots from wheeled counterparts. Dynamic locomotion on abrupt surfaces, as opposed to walking on rough terrains, demands the integration of proprioceptive and…
Achieving versatile and explosive motion with robustness against dynamic uncertainties is a challenging task. Introducing parallel compliance in quadrupedal design is deemed to enhance locomotion performance, which, however, makes the…
In developing mobile robots for exploration on the planetary surface, it is crucial to evaluate the robot's performance, demonstrating the harsh environment in which the robot will actually be deployed. Repeatable experiments in a…
The use of eXtended Reality (XR) technologies in the space domain has increased significantly over the past few years as it can offer many advantages when simulating complex and challenging environments. Space agencies are currently using…
Robotics plays a pivotal role in planetary science and exploration, where autonomous and reliable systems are crucial due to the risks and challenges inherent to space environments. The establishment of permanent lunar bases demands robotic…
Celestial bodies such as the Moon and Mars are mainly covered by loose, granular soil, a notoriously challenging terrain to traverse with (wheeled) robotic systems. Here, we present experimental work on traversing steep, granular slopes…
In this paper, we consider a general task of jumping varying distances and heights for a quadrupedal robot in noisy environments, such as off of uneven terrain and with variable robot dynamics parameters. To accurately jump in such…
This paper presents reinforcement learning (RL) policies for dynamic quadrupedal locomotion in planetary exploration scenarios. Building on a taskoptimized quadruped with a 5-bar leg design, we develop RL policies for walking, vertical…
Collapsing terrains, often present in search and rescue missions or planetary exploration, pose significant challenges for quadruped robots. This paper introduces a robust locomotion framework for safe navigation over unstable surfaces by…
Generating dynamic jumping motions on legged robots remains a challenging control problem as the full flight phase and large landing impact are expected. Compared to quadrupedal robots or other multi-legged robots, bipedal robots place…
A robotic system can be viewed as a collection of lower-dimensional systems that are coupled via reaction forces (Lagrange multipliers) enforcing holonomic constraints. Inspired by this viewpoint, this paper presents a novel formulation for…
We present a reinforcement learning framework for quadrupedal wall-climbing locomotion that explicitly addresses uncertainty in magnetic foot adhesion. A physics-based adhesion model of a quadrupedal magnetic climbing robot is incorporated…
This study presents an advanced approach to enhance robotic manipulation in uncertain and challenging environments, with a focus on autonomous operations augmented by human-in-the-loop (HITL) control for lunar missions. By integrating human…
Recent advances in quadrupedal robots have demonstrated impressive agility and the ability to traverse diverse terrains. However, hardware issues, such as motor overheating or joint locking, may occur during long-distance walking or…
In an era marked by renewed interest in lunar exploration and the prospect of establishing a sustainable human presence on the Moon, innovative approaches supporting mission preparation and astronaut training are imperative. To this end,…