相关论文: Sim-to-Real Learning of Footstep-Constrained Biped…

Bipedal humanoid robots must precisely coordinate balance, timing, and contact decisions when locomoting on constrained footholds such as stepping stones, beams, and planks -- even minor errors can lead to catastrophic failure. Classical…

This study introduces a robust planning framework that utilizes a model predictive control (MPC) approach, enhanced by incorporating signal temporal logic (STL) specifications. This marks the first-ever study to apply STL-guided trajectory…

Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down and lift-off events and holonomic constraints for each leg.…

Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down and lift-off events and holonomic constraints for each leg.…

Reinforcement learning (RL) has become a promising approach to developing controllers for quadrupedal robots. Conventionally, an RL design for locomotion follows a position-based paradigm, wherein an RL policy outputs target joint positions…

Reinforcement Learning (RL) methods have been proven successful in solving manipulation tasks autonomously. However, RL is still not widely adopted on real robotic systems because working with real hardware entails additional challenges,…

In recent years, legged and wheeled-legged robots have gained prominence for tasks in environments predominantly created for humans across various domains. One significant challenge faced by many of these robots is their limited capability…

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…

Controlling a non-statically stable biped is a difficult problem largely due to the complex hybrid dynamics involved. Recent work has demonstrated the effectiveness of reinforcement learning (RL) for simulation-based training of neural…

Seeing-eye robots are very useful tools for guiding visually impaired people, potentially producing a huge societal impact given the low availability and high cost of real guide dogs. Although a few seeing-eye robot systems have already…

We explore sim-to-real transfer of deep reinforcement learning controllers for a heavy vehicle with active suspensions designed for traversing rough terrain. While related research primarily focuses on lightweight robots with electric…

Pedipulation leverages the feet of legged robots for mobile manipulation, eliminating the need for dedicated robotic arms. While previous works have showcased blind and task-specific pedipulation skills, they fail to account for static and…

Dynamic bipedal walking on discrete terrain, like stepping stones, is a challenging problem requiring feedback controllers to enforce safety-critical constraints. To enforce such constraints in real-world experiments, fast and accurate…

Learning human-like, robust bipedal walking remains difficult due to hybrid dynamics and terrain variability. We propose a lightweight framework that combines a gait generator network learned from human motion with Proximal Policy…

Understanding pedestrian behavior is crucial for the safe deployment of Autonomous Vehicles (AVs) in urban environments. Traditional pedestrian behavior models often fall into two categories: mechanistic models, which do not generalize well…

Navigating fluently around pedestrians is a necessary capability for mobile robots deployed in human environments, such as buildings and homes. While research on social navigation has focused mainly on the scalability with the number of…

Deep reinforcement learning (DRL) is a promising approach for developing legged locomotion skills. However, the iterative design process that is inevitable in practice is poorly supported by the default methodology. It is difficult to…

This paper introduces a new approach to enhance the robustness of humanoid walking under strong perturbations, such as substantial pushes. Effective recovery from external disturbances requires bipedal robots to dynamically adjust their…

Multi-legged robots offer enhanced stability to navigate complex terrains with their multiple legs interacting with the environment. However, how to effectively coordinate the multiple legs in a larger action exploration space to generate…

Most successes in robotic manipulation have been restricted to single-arm robots, which limits the range of solvable tasks to pick-and-place, insertion, and objects rearrangement. In contrast, dual and multi arm robot platforms unlock a…