Related papers: Natural Locomotion: Principle and Method
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…
This Report discusses a recently developed concept of Limiting Phase Trajectories (LPTs) providing a unified description of resonant energy transport in a wide range of classical and quantum dynamical systems with constant and time-varying…
We present Visual Navigation and Locomotion over obstacles (ViNL), which enables a quadrupedal robot to navigate unseen apartments while stepping over small obstacles that lie in its path (e.g., shoes, toys, cables), similar to how humans…
Reinforcement learning (RL) has demonstrated the ability to maintain the plasticity of the policy throughout short-term training in aerial robot control. However, these policies have been shown to loss of plasticity when extended to…
Mechanisms of locomotion in microscopic systems are of great interest not only for technological applications, but also for the sake of understanding, and potentially harnessing, processes far from thermal equilibrium. Down-scaling is a…
Decision-making is the process of selecting an action among alternatives, allowing biological and artificial systems to navigate complex environments and optimize behavior. While neural systems rely on neuron-based sensory processing and…
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 the area of bipedal locomotion, the spring loaded inverted pendulum (SLIP) model has been proposed as a unified framework to explain the dynamics of a wide variety of gaits. In this paper, we present a novel analysis of the mathematical…
This study proposes a hierarchically integrated framework for safe task and motion planning (TAMP) of bipedal locomotion in a partially observable environment with dynamic obstacles and uneven terrain. The high-level task planner employs…
In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction perspective, where a robot must not only stay inside a…
Embodiment is a significant keyword in recent machine learning fields. This study focused on the passive nature of the body of a biped robot to generate walking and running locomotion using model-based deep reinforcement learning. We…
This paper addresses the kinodynamic motion planning for non-holonomic robots in dynamic environments with both static and dynamic obstacles -- a challenging problem that lacks a universal solution yet. One of the promising approaches to…
Humanoid robots that can autonomously operate in diverse environments have the potential to help address labour shortages in factories, assist elderly at homes, and colonize new planets. While classical controllers for humanoid robots have…
Rectilinear crawling locomotion is a primitive and common mode of locomotion in slender, soft-bodied animals. It requires coordinated contractions that propagate along a body that interacts frictionally with its environment. We propose a…
A parallel program together with the parallel hardware it is running on is not only a vehicle to solve numerical problems, it is also a complex system with interesting dynamical behavior: resynchronization and desynchronization of parallel…
Similar to their counterparts in nature, the flexible bodies of snake-like robots enhance their movement capability and adaptability in diverse environments. However, this flexibility corresponds to a complex control task involving highly…
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…
Most locomotion methods for humanoid robots focus on leg-based gaits, yet natural bipeds frequently rely on hands, knees, and elbows to establish additional contacts for stability and support in complex environments. This paper introduces…
We consider paths of a one-dimensional simple random walk conditioned to come back to the origin after L steps (L an even integer). In the 'pinning model' each path \eta has a weight \lambda^{N(\eta)}, where \lambda>0 and N(\eta) is the…
Mobile microscopic bodies, such as motile cells, can be modelled phenomenologically as ``active particles'' which can move against external forces by depleting an internal energy depot. The microscopic mechanisms underlying such ``active''…