相关论文: The Soft Landing Problem: Minimizing Energy Loss b…
Legged locomotion is a highly promising but under-researched subfield within the field of soft robotics. The compliant limbs of soft-limbed robots offer numerous benefits, including the ability to regulate impacts, tolerate falls, and…
Soft pneumatic legged robots show promise in their ability to traverse a range of different types of terrain, including natural unstructured terrain met in applications like precision agriculture. They can adapt their body morphology to the…
Legged robots are well-suited for broad exploration tasks in complex environments with yielding terrain. Understanding robotic foot-terrain interactions is critical for safe locomotion and walking efficiency for legged robots. This paper…
Despite recent advances in robust locomotion, bipedal robots operating in the real world remain at risk of falling. While most research focuses on preventing such events, we instead concentrate on the phenomenon of falling itself.…
Legged robots have demonstrated remarkable agility on rigid, stationary ground, but their locomotion reliability remains limited in non-inertial environments, where the supporting ground moves, tilts, or accelerates. Such conditions arise…
Legged robots offer several advantages when navigating unstructured environments, but they often fall short of the efficiency achieved by wheeled robots. One promising strategy to improve their energy economy is to leverage their natural…
Inverted landing in a rapid and robust manner is a challenging feat for aerial robots, especially while depending entirely on onboard sensing and computation. In spite of this, this feat is routinely performed by biological fliers such as…
Legged robots are promising candidates for exploring challenging areas on low-gravity bodies such as the Moon, Mars, or asteroids, thanks to their advanced mobility on unstructured terrain. However, as planetary robots' power and thermal…
This paper proposes a method to evaluate the capability of aggressive legged robot landing under significant touchdown linear and angular velocities upon impact. Our approach builds upon the Planar Inverted Pendulum with Flywheel (PIPF)…
Legged robots have demonstrated high efficiency and effectiveness in unstructured and dynamic environments. However, it is still challenging for legged robots to achieve rapid and efficient locomotion on deformable, yielding substrates,…
Robot feet are crucial for maintaining dynamic stability and propelling the body during walking, especially on uneven terrains. Traditionally, robot feet were mostly designed as flat and stiff pieces of metal, which meets its limitations…
Reinforcement learning (RL) has demonstrated impressive performance in legged locomotion over various challenging environments. However, due to the sim-to-real gap and lack of explainability, unconstrained RL policies deployed in the real…
Locomotion on granular slopes such as sand dunes remains a fundamental challenge for legged robots due to reduced shear strength and gravity-induced anisotropic yielding of granular media. Using a hexapedal robot on a tiltable granular bed,…
Dynamic quadrupedal locomotion over rough terrains reveals remarkable progress over the last few decades. Small-scale quadruped robots are adequately flexible and adaptable to traverse uneven terrains along sagittal direction, such as…
Crawling is a common locomotion mechanism in soft robots and nonskeletal animals. In this work we propose modeling soft-robotic legged locomotion by approximating it with an equivalent articulated robot with elastic joints. For concreteness…
We present an open-source untethered quadrupedal soft robot platform for dynamic locomotion (e.g., high-speed running and backflipping). The robot is mostly soft (80 vol.%) while driven by four geared servo motors. The robot's soft body and…
Hopping robots often lose balance on slopes because the tilted ground creates unwanted rotation at landing. This work analyzes that effect using a simple spring mass model and identifies how slope induced impulses destabilize the robot. To…
Legged robot locomotion is hindered by a mismatch between applications where legs can outperform wheels or treads, most of which feature deformable substrates, and existing tools for planning and control, most of which assume flat, rigid…
Legged locomotion is commonly studied and expressed as a discrete set of gait patterns, like walk, trot, gallop, which are usually treated as given and pre-programmed in legged robots for efficient locomotion at different speeds. However,…
Legged robots must achieve both robust locomotion and energy efficiency to be practical in real-world environments. Yet controllers trained in simulation often fail to transfer reliably, and most existing approaches neglect…