Related papers: Energy Prediction on Sloping Ground for Quadruped …
Hybrid locomotion of wheeled-legged robots has recently attracted increasing attention due to their advantages of combining the agility of legged locomotion and the efficiency of wheeled motion. But along with expanded performance, the…
Learning multiple gaits is non-trivial for legged robots, especially when encountering different terrains and velocity commands. In this work, we present an end-to-end training framework for learning multiple gaits for quadruped robots,…
Multirotor unmanned aerial vehicle is a prevailing type of aerial robots with wide real-world applications. The energy efficiency of the robot is a critical aspect of its performance, determining the range and duration of the missions that…
Achieving safe quadrupedal locomotion in real-world environments has attracted much attention in recent years. When walking over uneven terrain, achieving reliable estimation and realising safety-critical control based on the obtained…
In this paper we tackle the problem of visually predicting surface friction for environments with diverse surfaces, and integrating this knowledge into biped robot locomotion planning. The problem is essential for autonomous robot…
Task space trajectory tracking for quadruped robots plays a crucial role on achieving dexterous maneuvers in unstructured environments. To fulfill the control objective, the robot should apply forces through the contact of the legs with the…
In this paper, we present an energy-conservation based control architecture for stable dynamic motion in quadruped robots. We model the robot as a Spring-loaded Inverted Pendulum (SLIP), a model well-suited to represent the bouncing motion…
Legged robots offer several advantages when navigating unstructured environments, but they often fall short of the efficiency achieved by wheeled robots. One promising strategy to improve their energy economy is to leverage their natural…
Efficient mobility and power consumption are critical for autonomous water surface robots in long-term water environmental monitoring. This study develops and evaluates a transformable mobility mechanism for a water surface robot with two…
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…
Humanoid robots deployed in industrial environments are required to perform load-carrying transportation tasks that tightly couple locomotion and manipulation. However, achieving stable and robust locomotion under varying payloads and…
Quadrupedal animals employ diverse galloping strategies to optimize speed, stability, and energy efficiency. However, the biomechanical mechanisms that enable adaptive gait transitions during high-speed locomotion under load remain poorly…
Dynamic traversal of uneven terrain is a major objective in the field of legged robotics. The most recent model predictive control approaches for these systems can generate robust dynamic motion of short duration; however, planning over a…
This paper addresses the problem of legged locomotion in non-flat terrain. As legged robots such as quadrupeds are to be deployed in terrains with geometries which are difficult to model and predict, the need arises to equip them with the…
Legged robots that can operate autonomously in remote and hazardous environments will greatly increase opportunities for exploration into under-explored areas. Exteroceptive perception is crucial for fast and energy-efficient locomotion:…
Quadruped robots have shown remarkable mobility on various terrains through reinforcement learning. Yet, in the presence of sparse footholds and risky terrains such as stepping stones and balance beams, which require precise foot placement…
A distinctive feature of quadrupeds that is integral to their locomotion is the tail. Tails serve many purposes in biological systems including propulsion, counterbalance, and stabilization while walking, running, climbing, or jumping.…
Traditional approaches to quadruped control frequently employ simplified, hand-derived models. This significantly reduces the capability of the robot since its effective kinematic range is curtailed. In addition, kinodynamic constraints are…
Quadruped robots are proliferating in industrial environments where they carry sensor payloads and serve as autonomous inspection platforms. Despite the advantages of legged robots over their wheeled counterparts on rough and uneven…
In this paper, we deal with the problem of full-body path planning for walking robots. The state of walking robots is defined in multi-dimensional space. Path planning requires defining the path of the feet and the robot's body. Moreover,…