相关论文: Identification of Legged Locomotion via Model-Base…

Lifted linear predictor (LLP) is an artificial linear dynamical system designed to predict trajectories of a generally nonlinear dynamical system based on the current state (or measurements) and the input. The main benefit of the LLP is its…

The paper presents a method to stabilize dynamic gait for a legged robot with embodied compliance. Our approach introduces a unified description for rigid and compliant bodies to approximate their deformation and a formulation for…

Locomotion is typically studied either in continuous media where bodies and legs experience forces generated by the flowing medium, or on solid substrates dominated by friction. In the former, centralized coordination is believed to…

We present the design of a low-cost wheeled mobile robot, and an analytical model for predicting its motion under the influence of motor torques and friction forces. Using our proposed model, we show how to analytically compute the gradient…

The paper presents an approach for the identification of elasto-static parameters of a robotic manipulator using the virtual experiments in a CAD environment. It is based on the numerical processing of the data extracted from the finite…

Accurate state estimation is crucial for legged robot locomotion, as it provides the necessary information to allow control and navigation. However, it is also challenging, especially in scenarios with uneven and slippery terrain. This…

To traverse complex three-dimensional terrainwith large obstacles, animals and robots must transition across different modes. However, the most mechanistic understanding of terrestrial locomotion concerns how to generate and stabilize…

State of the art legged robots are either capable of measuring torque at the output of their drive systems, or have transparent drive systems which enable the computation of joint torques from motor currents. In either case, this sensor…

High-frequency and accurate state estimation is crucial for biped robots. This paper presents a tightly-coupled LiDAR-Inertial-Kinematic Odometry (LIKO) for biped robot state estimation based on an iterated extended Kalman filter. Beyond…

This work tries to contribute to the design of legged robots with capabilities boosted through thruster-assisted locomotion. Our long-term goal is the development of robots capable of negotiating unstructured environments, including land…

Fast and modular modeling of multi-legged robots (MLRs) is essential for resilient control, particularly under significant morphological changes caused by mechanical damage. Conventional fixed-structure models, often developed with…

We present an imitation learning framework that extracts distinctive legged locomotion behaviors and transitions between them from unlabeled real-world motion data. By automatically discovering behavioral modes and mapping user steering…

The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during motions between the prespecified test postures. It employs a low-cost measuring system…

Simulation trained legged locomotion policies often exhibit performance loss on hardware due to dynamics discrepancies between the simulator and the real world, highlighting the need for approaches that adapt the simulator itself to better…

Recent advances in aerial robotics have enabled the use of multirotor vehicles for autonomous payload transportation. Resorting only to classical methods to reliably model a quadrotor carrying a cable-slung load poses significant…

Bipedal balance is challenging due to its multi-phase, hybrid nature and high-dimensional state space. Traditional balance control approaches for bipedal robots rely on low-dimensional models for locomotion planning and reactive control,…

Legged locomotion is a challenging task for learning algorithms, especially when the task requires a diverse set of primitive behaviors. To solve these problems, we introduce a hierarchical framework to automatically decompose complex…

We exploit the complementary strengths of vision and proprioception to develop a point-goal navigation system for legged robots, called VP-Nav. Legged systems are capable of traversing more complex terrain than wheeled robots, but to fully…

Quadruped locomotion is rapidly maturing to a degree where robots now routinely traverse a variety of unstructured terrains. However, while gaits can be varied typically by selecting from a range of pre-computed styles, current planners are…

Detecting and preventing falls in humans is a critical component of assistive robotic systems. While significant progress has been made in detecting falls, the prediction of falls before they happen, and analysis of the transient state…