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The outdoor navigation capabilities of ground robots have improved significantly in recent years, opening up new potential applications in a variety of settings. Cost-based representations of the environment are frequently used in the path…
Optimizing energy consumption for robot navigation in fields requires energy-cost maps. However, obtaining such a map is still challenging, especially for large, uneven terrains. Physics-based energy models work for uniform, flat surfaces…
Legged rovers provide enhanced mobility compared to wheeled platforms, enabling navigation on steep and irregular planetary terrains. However, traditional legged locomotion might be energetically inefficient and potentially dangerous to the…
It is often overlooked by roboticists when designing locomotion controllers for their legged machines, that energy consumption plays an important role in selecting the best gaits for locomotion at high speeds or over long distances. The…
Wheeled-legged robots combine the efficiency of wheels with the versatility of legs, but face significant energy optimization challenges when navigating diverse environments. In this work, we present a hierarchical control framework that…
Taking inspiration from the natural gait transition mechanism of quadrupeds, devising a good gait transition strategy is important for quadruped robots to achieve energy-efficient locomotion on various terrains and velocities. While…
Hybrid track/wheel-legged robots combine the advantages of wheel-based and leg-based locomotion, granting adaptability across varied terrains through efficient transitions between rolling and walking modes. However, automating these…
Energy efficiency is a critical factor in the performance and autonomy of quadrupedal robots. While previous research has focused on mechanical design and actuation improvements, the impact of gait parameters on energetics has been less…
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…
Driving energy consumption plays a major role in the navigation of mobile robots in challenging environments, especially if they are left to operate unattended under limited on-board power. This paper reports on first results of an…
Galloping is a common high-speed gait in both animals and quadrupedal robots, yet its energetic characteristics remain insufficiently explored. This study systematically analyzes a large number of possible galloping gaits by categorizing…
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…
The energy use of a robot is trajectory-dependent, and thus can be reduced by optimization of the trajectory. Current methods for robot trajectory optimization can reduce energy up to 15\% for fixed start and end points, however their use…
Legged robot locomotion is hindered by a mismatch between applications where legs can outperform wheels or treads, most of which feature deformable substrates, and existing tools for planning and control, most of which assume flat, rigid…
Legged locomotion is commonly studied and expressed as a discrete set of gait patterns, like walk, trot, gallop, which are usually treated as given and pre-programmed in legged robots for efficient locomotion at different speeds. However,…
Locomotion on granular slopes such as sand dunes remains a fundamental challenge for legged robots due to reduced shear strength and gravity-induced anisotropic yielding of granular media. Using a hexapedal robot on a tiltable granular bed,…
Dynamic quadrupedal locomotion over rough terrains reveals remarkable progress over the last few decades. Small-scale quadruped robots are adequately flexible and adaptable to traverse uneven terrains along sagittal direction, such as…
Motor thermal management is often overlooked in the context of electrically-actuated robots, particularly legged robots, but motor overheating is a key factor that limits long-duration locomotion especially under payload conditions. This…
The heavy-load legged robot has strong load carrying capacity and can adapt to various unstructured terrains. But the large weight results in higher requirements for motion stability and environmental perception ability. In order to utilize…
In reinforcement learning for legged robot locomotion, crafting effective reward strategies is crucial. Pre-defined gait patterns and complex reward systems are widely used to stabilize policy training. Drawing from the natural locomotion…