相关论文: BLUE: A 3D Dynamic Bipedal Robot

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…

A robot self-model is a task-agnostic representation of the robot's physical morphology that can be used for motion planning tasks in the absence of a classical geometric kinematic model. In particular, when the latter is hard to engineer…

Building trajectories for biped robot walking is a complex task considering all degrees of freedom (DOFs) commonly bound within the mechanical structure. A typical problem for such robots is the instability produced by violent transitions…

Bio-inspired soft robots have already shown the ability to handle uncertainty and adapt to unstructured environments. However, their availability is partially restricted by time-consuming, costly and highly supervised design-fabrication…

The current capabilities of robotic systems make human collaboration necessary to accomplish complex tasks effectively. In this work, we are introducing a framework to ensure safety in a human-robot collaborative environment. The system is…

In this paper, we present STRIDE, a Simple, Terrestrial, Reconfigurable, Intelligent, Dynamic, and Educational bipedal platform. STRIDE aims to propel bipedal robotics research and education by providing a cost-effective implementation with…

Accurate control of a humanoid robot's global position (i.e., its three-dimensional position in the world) is critical to the reliable execution of high-risk tasks such as avoiding collision with pedestrians in a crowded environment. This…

Multi-legged robots with six or more legs are not in common use, despite designs with superior stability, maneuverability, and a low number of actuators being available for over 20 years. This may be in part due to the difficulty in…

High-speed and high-acceleration movements are inherently hard to control. Applying learning to the control of such motions on anthropomorphic robot arms can improve the accuracy of the control but might damage the system. The inherent…

Deep reinforcement learning (RL) based controllers for legged robots have demonstrated impressive robustness for walking in different environments for several robot platforms. To enable the application of RL policies for humanoid robots in…

We present a versatile framework for the computational co-design of legged robots and dynamic maneuvers. Current state-of-the-art approaches are typically based on random sampling or concurrent optimization. We propose a novel bilevel…

This work presents a hierarchical framework for bipedal locomotion that combines a Reinforcement Learning (RL)-based high-level (HL) planner policy for the online generation of task space commands with a model-based low-level (LL)…

We present a scheme for producing tunable active dynamics in a self-propelled robotic device. The robot moves using the differential drive mechanism where two wheels can vary their instantaneous velocities independently. These velocities…

Omnidirectional aerial robots offer full 6-DoF independent control over position and orientation, making them popular for aerial manipulation. Although advancements in robotic autonomy, human operation remains essential in complex aerial…

We present a framework to generate periodic trajectory references for a 3D under-actuated bipedal robot, using a linear inverted pendulum (LIP) based controller with adaptive neural regulation. We use the LIP template model to estimate the…

Scaling the design of robots up or down remains a fundamental challenge. While biological systems follow well-established isometric and allometric scaling laws relating mass, stride frequency, velocity, and torque, it is unclear how these…

Practical bipedal robot locomotion needs to be both energy efficient and robust to variability and uncertainty. In this paper, we build upon recent works in trajectory optimization for robot locomotion with two primary goals. First, we wish…

A class of planar bipedal robots with unique mechanical properties has been proposed, where all links are balanced around the hip joint, preventing natural swinging motion due to gravity. A common property of their equations of motion is…

Mobility disabilities are prominent in society with wide-ranging detriments to affected individuals. Addressing the specific deficits of individuals within this heterogeneous population requires modular, partial-assist, lower-limb…

Wearable and legged robot designers face multiple challenges when choosing actuation. Traditional fully actuated designs using electric motors are multifunctional but oversized and inefficient for bearing conservative loads and for being…