Related papers: Energy Prediction on Sloping Ground for Quadruped …
Nature has evolved humans to walk on different terrains by developing a detailed understanding of their physical characteristics. Similarly, legged robots need to develop their capability to walk on complex terrains with a variety of…
Drone delivery is rapidly emerging as a cost-effective and energy efficient alternative for last-mile delivery. Unlike ground vehicles, a drone's energy consumption depends on its payload in addition to travel distance. This creates a…
This work reports on developing a deep inverse reinforcement learning method for legged robots terrain traversability modeling that incorporates both exteroceptive and proprioceptive sensory data. Existing works use robot-agnostic…
Operations in hazardous environments put humans, animals, and machines at high risk for physically damaging consequences. In contrast to humans and animals, quadruped robots cannot naturally identify and adjust their locomotion to a…
Wheeled bipedal robots have garnered increasing attention in exploration and inspection. However, most research simplifies calculations by ignoring leg dynamics, thereby restricting the robot's full motion potential. Additionally, robots…
We present a footstep planning policy for quadrupedal locomotion that is able to directly take into consideration a-priori safety information in its decisions. At its core, a learning process analyzes terrain patches, classifying each…
Mobile robots, especially those driving outdoors and in unstructured terrain, sometimes suffer from failures and errors in locomotion, like unevenly pressurized or flat tires, loose axes or de-tracked tracks. Those are errors that go…
Designing robots capable of traversing uneven terrain and overcoming physical obstacles has been a longstanding challenge in the field of robotics. Walking robots show promise in this regard due to their agility, redundant DOFs and…
Achieving energy-efficient trajectory planning for autonomous driving remains a challenge due to the limitations of model-agnostic approaches. This study addresses this gap by introducing an online nonlinear programming trajectory…
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 stable and energy-efficient locomotion is essential for humanoid robots to operate continuously in real-world applications. Existing MPC and RL approaches often rely on energy-related metrics embedded within a multi-objective…
Quadruped robots face limitations in long-range navigation efficiency due to their reliance on legs. To ameliorate the limitations, we introduce a Reinforcement Learning-based Active Transporter Riding method (\textit{RL-ATR}), inspired by…
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…
The long-standing, dominant approach to robotic obstacle negotiation relies on mapping environmental geometry to avoid obstacles. However, this approach does not allow for traversal of cluttered obstacles, hindering applications such as…
Bipedal animals have diverse morphologies and advanced locomotion abilities. Terrestrial birds, in particular, display agile, efficient, and robust running motion, in which they exploit the interplay between the body segment masses and…
Robots still struggle to dynamically traverse complex 3-D terrain with many large obstacles, an ability required for many critical applications. Body-obstacle interaction is often inevitable and induces perturbation and uncertainty in…
Autonomous robots operating in real environments are often faced with decisions on how best to navigate their surroundings. In this work, we address a particular instance of this problem: how can a robot autonomously decide on the…
Some of the most challenging environments on our planet are accessible to quadrupedal animals but remain out of reach for autonomous machines. Legged locomotion can dramatically expand the operational domains of robotics. However,…
In-situ robotic exploration is an important tool for advancing knowledge of geological processes that describe the Earth and other Planetary bodies. To inform and enhance operations for these roving laboratories, it is imperative to…
With the rapid development of embodied intelligence, locomotion control of quadruped robots on complex terrains has become a research hotspot. Unlike traditional locomotion control approaches focusing solely on velocity tracking, we pursue…