Related papers: Learning-Based Fault Detection for Legged Robots i…
A vast number of applications for legged robots entail tasks in complex, dynamic environments. But these environments put legged robots at high risk for limb damage. This paper presents an empirical study of fault tolerant dynamic gaits…
Traversing 3-D complex environments has always been a significant challenge for legged locomotion. Existing methods typically rely on external sensors such as vision and lidar to preemptively react to obstacles by acquiring environmental…
Modern quadrupeds are skillful in traversing or even sprinting on uneven terrains in a remote uncontrolled environment. However, survival in the wild requires not only maneuverability, but also the ability to handle potential critical…
Legged robots are physically capable of traversing a wide range of challenging environments, but designing controllers that are sufficiently robust to handle this diversity has been a long-standing challenge in robotics. Reinforcement…
Multi-legged robots (MLRs) are vulnerable to leg damage during complex missions, which can impair their performance. This paper presents a self-modeling and damage identification algorithm that enables autonomous adaptation to partial or…
Deployment in hazardous environments requires robots to understand the risks associated with their actions and movements to prevent accidents. Despite its importance, these risks are not explicitly modeled by currently deployed locomotion…
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…
Legged robots can traverse a wide variety of terrains, some of which may be challenging for wheeled robots, such as stairs or highly uneven surfaces. However, quadruped robots face stability challenges on slippery surfaces. This can be…
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…
As both legged robots and embedded compute have become more capable, researchers have started to focus on field deployment of these robots. Robust autonomy in unstructured environments requires perception of the world around the robot in…
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:…
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,…
Autonomous robots must navigate reliably in unknown environments even under compromised exteroceptive perception, or perception failures. Such failures often occur when harsh environments lead to degraded sensing, or when the perception…
Legged locomotion holds the premise of universal mobility, a critical capability for many real-world robotic applications. Both model-based and learning-based approaches have advanced the field of legged locomotion in the past three…
The ability to recover from an unexpected external perturbation is a fundamental motor skill in bipedal locomotion. An effective response includes the ability to not just recover balance and maintain stability but also to fall in a safe…
Pedipulation leverages the feet of legged robots for mobile manipulation, eliminating the need for dedicated robotic arms. While previous works have showcased blind and task-specific pedipulation skills, they fail to account for static and…
Quadruped robots are progressively being integrated into human environments. Despite the growing locomotion capabilities of quadrupedal robots, their interaction with objects in realistic scenes is still limited. While additional robotic…
The semantics of the environment, such as the terrain type and property, reveals important information for legged robots to adjust their behaviors. In this work, we present a framework that learns semantics-aware locomotion skills from…
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…
Legged robots, specifically quadrupeds, are becoming increasingly attractive for industrial applications such as inspection. However, to leave the laboratory and to become useful to an end user requires reliability in harsh conditions. From…