相关论文: WoLF: the Whole-body Locomotion Framework for Quad…

Amphibious legged robots inspired by salamanders are promising in applications in complex amphibious environments. However, despite the significant success of training controllers that achieve diverse locomotion behaviors in conventional…

Wheeled-legged robots combine the efficiency of wheeled robots when driving on suitably flat surfaces and versatility of legged robots when stepping over or around obstacles. This paper introduces a planning and control framework to realise…

A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…

Recent advancements in large-scale offline training have demonstrated the potential of generalist policy learning for complex robotic tasks. However, applying these principles to legged locomotion remains a challenge due to continuous…

This paper proposes a modular framework to generate robust biped locomotion using a tight coupling between an analytical walking approach and deep reinforcement learning. This framework is composed of six main modules which are…

Localization is paramount for autonomous robots. While camera and LiDAR-based approaches have been extensively investigated, they are affected by adverse illumination and weather conditions. Therefore, radar sensors have recently gained…

This paper presents the design, analysis, and performance evaluation of an omnidirectional transformable wheel-leg robot called OmniWheg. We design a novel mechanism consisting of a separable omni-wheel and 4-bar linkages, allowing the…

We present object handling and transporting by a multi-robot team with a deformable sheet as a carrier. Due to the deformability of the sheet and the high dimension of the whole system, it is challenging to clearly describe all the possible…

Legged robots must adapt their gait to navigate unpredictable environments, a challenge that animals master with ease. However, most deep reinforcement learning (DRL) approaches to quadruped locomotion rely on a fixed gait, limiting…

Controlling contact forces during interactions is critical for locomotion and manipulation tasks. While sim-to-real reinforcement learning (RL) has succeeded in many contact-rich problems, current RL methods achieve forceful interactions…

For the majority of tasks performed by traditional serial robot arms, such as bin picking or pick and place, only two or three degrees of freedom (DOF) are required for motion; however, by augmenting the number of degrees of freedom,…

Robotic systems are increasingly expected to operate in human-centered, unstructured environments where safety, adaptability, and generalization are essential. Vision-Language-Action (VLA) models have been proposed as a language guided…

Large language models (LLMs) have demonstrated the potential to perform high-level planning. Yet, it remains a challenge for LLMs to comprehend low-level commands, such as joint angle targets or motor torques. This paper proposes an…

Various musculoskeletal humanoids have been developed so far. While these humanoids have the advantage of their flexible and redundant bodies that mimic the human body, they are still far from being applied to real-world tasks. One of the…

Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially…

Whole Body Operational Space Control (WBOSC) is a pioneering algorithm in the field of human-centered Whole-Body Control (WBC). It enables floating-base highly-redundant robots to achieve unified motion/force control of one or more…

Hybrid track/wheel-legged robots combine the advantages of wheel-based and leg-based locomotion, granting adaptability across varied terrains through efficient transitions between rolling and walking modes. However, automating these…

This paper presents a novel method for assistive load carrying using quadruped robots. The controller uses proprioceptive sensor data to estimate external base wrench, that is used for precise control of the robot's acceleration during…

Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase compliance and increase the range of possible shape…

As legged robots take on roles in industrial and autonomous construction, collaborative loco-manipulation is crucial for handling large and heavy objects that exceed the capabilities of a single robot. However, ensuring the safety of these…