相关论文: Quadruped Capturability and Push Recovery via a Sw…
In the area of bipedal locomotion, the spring loaded inverted pendulum (SLIP) model has been proposed as a unified framework to explain the dynamics of a wide variety of gaits. In this paper, we present a novel analysis of the mathematical…
Recent advancements in adaptive control for reference trajectory tracking enable quadrupedal robots to perform locomotion tasks under challenging conditions. There are methods enabling the estimation of the external disturbances in terms of…
We show dynamic locomotion strategies for wheeled quadrupedal robots, which combine the advantages of both walking and driving. The developed optimization framework tightly integrates the additional degrees of freedom introduced by the…
This work presents a motion retargeting approach for legged robots, aimed at transferring the dynamic and agile movements to robots from source motions. In particular, we guide the imitation learning procedures by transferring motions from…
Understanding the gap between simulation and reality is critical for reinforcement learning with legged robots, which are largely trained in simulation. However, recent work has resulted in sometimes conflicting conclusions with regard to…
Reinforcement Learning (RL) has seen many recent successes for quadruped robot control. The imitation of reference motions provides a simple and powerful prior for guiding solutions towards desired solutions without the need for meticulous…
To reproduce natural standing-up motion, recent studies have emphasized the importance of coordination between the assisting robot and the human. However, many non-wearable assistive devices have struggled to replicate natural motion…
In this paper, we present a new model of biped locomotion which is composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to double support, this model has…
The ability to recover from a fall is an essential feature for a legged robot to navigate in challenging environments robustly. Until today, there has been very little progress on this topic. Current solutions mostly build upon…
Robots still struggle to dynamically traverse complex 3-D terrain with many large obstacles, an ability required for many critical applications. Body-obstacle interaction is often inevitable and induces perturbation and uncertainty in…
Quadruped robots are often designed with rigid feet to simplify control and maintain stable contact during locomotion. While this approach is straightforward, it limits the ability of the legs to absorb impact forces and reuse stored…
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…
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…
Quadrupedal locomotion over complex terrain has been a long-standing research topic in robotics. While recent reinforcement learning-based locomotion methods improve generalizability and foot-placement precision, they rely on implicit…
This paper develops a hierarchical learning and optimization framework that can learn and achieve well-coordinated multi-skill locomotion. The learned multi-skill policy can switch between skills automatically and naturally in tracking…
Quadrupedal locomotion plays a critical role in enabling agile, versatile movement across complex terrains. Understanding and estimating the underlying physical dynamics are essential for achieving efficient and stable quadrupedal…
The complexities in the dynamic model of the legged robots make it necessary to utilize model-free controllers in the task of trajectory tracking. In This paper, an adaptive transpose Jacobian approach is proposed to deal with the dynamic…
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…
The aim of this work is to enable quadrupedal robots to mount skateboards using Reverse Curriculum Reinforcement Learning. Although prior work has demonstrated skateboarding for quadrupeds that are already positioned on the board, the…
Quadrupedal loco-manipulation is commonly built on visual perception and proprioception. Yet reliable contact-rich manipulation remains difficult: vision and proprioception alone cannot resolve uncertain, evolving interactions with the…