相关论文: STANCE: Locomotion Adaptation over Soft Terrain
Quadruped robots manifest great potential to traverse rough terrains with payload. Numerous traditional control methods for legged dynamic locomotion are model-based and exhibit high sensitivity to model uncertainties and payload…
This paper proposes an online friction coefficient identification framework for legged robots on slippery terrain. The approach formulates the optimization problem to minimize the sum of residuals between actual and predicted states…
Legged robots have great potential to perform loco-manipulation tasks, yet it is challenging to keep the robot balanced while it interacts with the environment. In this paper we study the use of additional contact points for maximising the…
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…
Navigating unknown three-dimensional (3D) rugged environments is challenging for multi-robot systems. Traditional discrete systems struggle with rough terrain due to limited individual mobility, while modular systems--where rigid,…
In this paper, with a view toward fast deployment of locomotion gaits in low-cost hardware, we use a linear policy for realizing end-foot trajectories in the quadruped robot, Stoch $2$. In particular, the parameters of the end-foot…
Planning whole-body motions while taking into account the terrain conditions is a challenging problem for legged robots since the terrain model might produce many local minima. Our coupled planning method uses stochastic and…
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…
Robust closed-loop locomotion remains challenging for soft quadruped robots due to high-dimensional dynamics, actuator hysteresis, and difficult-to-model contact interactions, while conventional proprioception provides limited information…
Quadrupedal robots are increasingly deployed for load-carrying tasks across diverse terrains. While Model Predictive Control (MPC)-based methods can account for payload variations, they often depend on predefined gait schedules or…
Coordinated multi-robot navigation is essential for robots to operate as a team in diverse environments. During navigation, robot teams usually need to maintain specific formations, such as circular formations to protect human teammates at…
Nature has evolved humans to walk on different terrains by developing a detailed understanding of their physical characteristics. Similarly, legged robots need to develop their capability to walk on complex terrains with a variety of…
Reinforcement learning (RL) has made significant strides in legged robot control, enabling locomotion across diverse terrains and complex loco-manipulation capabilities. However, the commonly used position or velocity tracking-based…
This paper addresses the problem of computing optimal impedance schedules for legged locomotion tasks involving complex contact interactions. We formulate the problem of impedance regulation as a trade-off between disturbance rejection and…
Legged robots, particularly quadrupeds, excel at navigating rough terrains, yet their performance under vertical ground perturbations, such as those from oscillating surfaces, remains underexplored. This study introduces a novel approach to…
Ensuring safety in robotic systems remains a fundamental challenge, especially when deploying offline policy-learning methods such as imitation learning in dynamic environments. Traditional behavior cloning (BC) often fails to generalize…
Re-planning in legged locomotion is crucial to track the desired user velocity while adapting to the terrain and rejecting external disturbances. In this work, we propose and test in experiments a real-time Nonlinear Model Predictive…
Reaction force-aware control is essential for legged climbing robots to ensure a safer and more stable operation. This becomes particularly crucial when navigating steep terrain or operating in microgravity environments, where excessive…
The ability to perform locomotion in various terrains is critical for legged robots. However, the robot has to have a better understanding of the surface it is walking on to perform robust locomotion on different terrains. Animals and…
This paper presents a control framework designed to enhance the stability and robustness of legged robots in the presence of uncertainties, including model uncertainties, external disturbances, and faults. The framework enables the…