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

Wheel-legged robots integrate leg agility on rough terrain with wheel efficiency on flat ground. However, most existing designs do not fully capitalize on the benefits of both legged and wheeled structures, which limits overall system…

Many soft robots struggle to produce dynamic motions with fast, large displacements. We develop a parallel 6 degree-of-freedom (DoF) Stewart-Gough mechanism using Handed Shearing Auxetic (HSA) actuators. By using soft actuators, we are able…

Quadruped robots are progressively being integrated into human environments. Despite the growing locomotion capabilities of quadrupedal robots, their interaction with objects in realistic scenes is still limited. While additional robotic…

In this paper, a legless capsule robot (capsubot) comprised of a sealed external body, an internal body, and a rotational actuator is proposed. The aim of this robot is to move in a two-dimensional viscous environment. After the robot is…

Operating robots precisely and at high speeds has been a long-standing goal of robotics research. Balancing these competing demands is key to enabling the seamless collaboration of robots and humans and increasing task performance. However,…

For safe and effective operation of humanoid robots in human-populated environments, the problem of commanding a large number of Degrees of Freedom (DoF) while simultaneously considering dynamic obstacles and human proximity has still not…

While it is expected to build robotic limbs with multiple degrees of freedom (DoF) inspired by nature, a single DoF design remains fundamental, providing benefits that include, but are not limited to, simplicity, robustness,…

This paper presents a control framework to teleoperate a quadruped robot's foot for operator-guided haptic exploration of the environment. Since one leg of a quadruped robot typically only has 3 actuated degrees of freedom (DoFs), the torso…

Quadruped robots are usually equipped with additional arms for manipulation, negatively impacting price and weight. On the other hand, the requirements of legged locomotion mean that the legs of such robots often possess the needed torque…

Selecting robot design parameters can be challenging since these parameters are often coupled with the performance of the controller and, therefore, the resulting capabilities of the robot. This leads to a time-consuming and often expensive…

The remarkable athletic intelligence displayed by humans in complex dynamic movements such as dancing and gymnastics suggests that the balance mechanism in biological beings is decoupled from specific movement patterns. This decoupling…

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…

This paper introduces a rescue robot named Sigma 3 which is developed for potential applications such as helping hands for humans where a human can not reach to have an assessment of the hazardous environment. Also, these kinds of robot can…

Soft Robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced…

Multi-degree of freedom robots are playing very important role in different applications of automation. They are providing much more accuracy in carrying out a typical procedure as compared to the manual work done by human. In recent years…

In this work, we propose a learning approach for 3D dynamic bipedal walking when footsteps are constrained to stepping stones. While recent work has shown progress on this problem, real-world demonstrations have been limited to relatively…

This work explores an innovative algorithm designed to enhance the mobility of underactuated bipedal robots across challenging terrains, especially when navigating through spaces with constrained opportunities for foot support, like steps…

This paper introduces the Stoch BiRo, a cost-effective bipedal robot designed with a modular mechanical structure having point feet to navigate uneven and unfamiliar terrains. The robot employs proprioceptive actuation in abduction, hips,…

The biological spine of quadrupeds enables sagittal flexion/extension, lateral bending, and axial rotation, playing a crucial role in highly agile and dexterous locomotion. While numerous studies have integrated active spinal joints into…

The hybrid zero dynamics control concept for bipedal walking is extended to include a non-instantaneous double support phase. A symmetric robot that consists of five rigid body segments which are connected by four actuated revolute joints…