Related papers: Exploring Human Quadruped Locomotion for Exergames
In this paper, we present a general learning framework for controlling a quadruped robot that can mimic the behavior of real animals and traverse challenging terrains. Our method consists of two steps: an imitation learning step to learn…
In this paper we propose a novel bipedal locomotion controller that uses noisy exteroception to traverse a wide variety of terrains. Building on the cutting-edge advancements in attention based belief encoding for quadrupedal locomotion,…
The brain has evolved to effectively control the body, and in order to understand the relationship we need to model the sensorimotor transformations underlying embodied control. As part of a coordinated effort, we are developing a…
Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially…
This paper presents an uncomplicated dynamic controller for generating physically-plausible three-dimensional full-body biped character rise motions on-the-fly at run-time. Our low-dimensional controller uses fundamental reference…
Bipedal walking is one of the most important hallmarks of human that robots have been trying to mimic for many decades. Although previous control methodologies have achieved robot walking on some terrains, there is a need for a framework…
Quadruped robots demonstrate exceptional potential for navigating complex terrain in critical applications such as search and rescue missions and infrastructure inspection However autonomous traversal of confined 3D environments including…
Locomotion plays a crucial role in shaping the user experience within virtual reality environments. In particular, hands-free locomotion offers a valuable alternative by supporting accessibility and freeing users from reliance on handheld…
We present the Duke Humanoid, an open-source 10-degrees-of-freedom humanoid, as an extensible platform for locomotion research. The design mimics human physiology, with symmetrical body alignment in the frontal plane to maintain static…
Animals are capable of precise and agile locomotion using vision. Replicating this ability has been a long-standing goal in robotics. The traditional approach has been to decompose this problem into elevation mapping and foothold planning…
Intelligent behaviour in the physical world exhibits structure at multiple spatial and temporal scales. Although movements are ultimately executed at the level of instantaneous muscle tensions or joint torques, they must be selected to…
Quadruped animals are capable of exhibiting a diverse range of locomotion gaits. While progress has been made in demonstrating such gaits on robots, current methods rely on motion priors, dynamics models, or other forms of extensive manual…
Recent studies have demonstrated the immense potential of exploiting muscle actuator morphology for natural and robust movement -- in simulation. A validation on real robotic hardware is yet missing. In this study, we emulate muscle…
The utility of Human-in-the-loop telerobotic systems (HiLTS) is driven in part by the quality of feedback it can provide to the operator. While the dynamic interaction between robot and environment can often be sensed or modeled, the…
Hand gesture is a new and promising interface for locomotion in virtual environments. While several previous studies have proposed different hand gestures for virtual locomotion, little is known about their differences in terms of…
Partial-assistance exoskeletons hold significant potential for gait rehabilitation by promoting active participation during (re)learning of normative walking patterns. Typically, the control of interaction torques in partial-assistance…
Quadrupedal animals can perform agile and playful tasks while interacting with real-world objects. For instance, a trained dog can track and catch a flying frisbee before it touches the ground, while a cat left alone at home may leap to…
In the context of embodied artificial intelligence, morphological computation refers to processes which are conducted by the body (and environment) that otherwise would have to be performed by the brain. Exploiting environmental and…
As robotic agents increasingly assist humans in reality, quadruped robots offer unique opportunities for interaction in complex scenarios due to their agile movement. However, building agents that can autonomously navigate, adapt, and…
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…