相关论文: Deploying COTS Legged Robot Platforms into a Heter…

Quadruped robots are currently a widespread platform for robotics research, thanks to powerful Reinforcement Learning controllers and the availability of cheap and robust commercial platforms. However, to broaden the adoption of the…

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…

Legged robots have shown remarkable advantages in navigating uneven terrain. However, realizing effective locomotion and manipulation tasks on quadruped robots is still challenging. In addition, object and terrain parameters are generally…

To traverse complex scenarios reliably a legged robot needs to move its base aided by the ground reaction forces, which can only be generated by the legs that are momentarily in contact with the ground. A proper selection of footholds is…

Adaptive control can address model uncertainty in control systems. However, it is preliminarily designed for tracking control. Recent advancements in the control of quadruped robots show that force control can effectively realize agile and…

This paper tackles the problem of robots collaboratively towing a load with cables to a specified goal location while avoiding collisions in real time. The introduction of cables (as opposed to rigid links) enables the robotic team to…

Our goal is to make robotics more accessible to casual users by reducing the domain knowledge required in designing and building robots. Towards this goal, we present an interactive computational design system that enables users to design…

Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility constraints to be included in a Single Rigid Body Dynamicsbased…

Legged robots are becoming increasingly agile in exhibiting dynamic behaviors such as running and jumping. Usually, such behaviors are either optimized and engineered offline (i.e. the behavior is designed for before it is needed), either…

Planning safe motions for legged robots requires sophisticated safety verification tools. However, designing such tools for such complex systems is challenging due to the nonlinear and high-dimensional nature of these systems' dynamics. In…

Unprecedented possibilities of quadruped robots have driven much research on the technical aspects of these robots. However, the social perception and acceptability of quadruped robots so far remain poorly understood. This work investigates…

Most autonomous navigation systems assume wheeled robots are rigid bodies and their 2D planar workspaces can be divided into free spaces and obstacles. However, recent wheeled mobility research, showing that wheeled platforms have the…

Multi-legged elongate robots hold promise for maneuvering through complex environments. Prior work has demonstrated that reliable locomotion can be achieved using open-loop body undulation and foot placement on rugose terrain. However,…

This paper shows the potential of a Lego\c{opyright} based low-cost commercial robotic platform for learning and testing prototypes in higher education and research. The overall setup aims to explain mobile robotic issues strongly related…

We introduce a robust control architecture for the whole-body motion control of torque controlled robots with arms and legs. The method is based on the robust control of contact forces in order to track a planned Center of Mass trajectory.…

Autonomous or teleoperated robots have been playing increasingly important roles in civil applications in recent years. Across the different civil domains where robots can support human operators, one of the areas where they can have more…

Collapsing terrains, often present in search and rescue missions or planetary exploration, pose significant challenges for quadruped robots. This paper introduces a robust locomotion framework for safe navigation over unstable surfaces by…

This paper introduces a novel six-axis force/torque sensor tailored for compact and lightweight legged robots. Unlike traditional strain gauge-based sensors, the proposed non-contact design employs photocouplers, enhancing resistance to…

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…

Continuum robots (CRs), owing to their compact structure, inherent compliance, and flexible deformation, have been widely applied in various fields. By coordinating multiple CRs to form collaborative continuum robots (CCRs), task…