相关论文: Calico: Relocatable On-cloth Wearables with Fast, …
We present Oncilla robot, a novel mobile, quadruped legged locomotion machine. This large-cat sized, 5.1 robot is one of a kind of a recent, bioinspired legged robot class designed with the capability of model-free locomotion control.…
For humans, fast, efficient walking over flat ground represents the vast majority of locomotion that an individual experiences on a daily basis, and for an effective, real-world humanoid robot the same will likely be the case. In this work,…
When a big and heavy robot moves, it exerts large forces on the environment and on its own structure, its angular momentum can varysubstantially, and even the robot's structure can deform if there is a mechanical weakness. Under these…
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…
The control of bipedal robotic walking remains a challenging problem in the domains of computation and experiment, due to the multi-body dynamics and various sources of uncertainty. In recent years, there has been a rising trend towards…
Small-scale robots hold great potential for targeted cargo delivery in minimally-inv asive medicine. However, current robots often face challenges to locomote efficiently on slip pery biological tissue surfaces, especially when loaded with…
We present RoMoCo, an open-source C++ toolbox for the synthesis and evaluation of reduced-order model-based planners and whole-body controllers for bipedal and humanoid robots. RoMoCo's modular architecture unifies state-of-the-art planners…
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…
Crawling is a common locomotion mechanism in soft robots and nonskeletal animals. In this work we propose modeling soft-robotic legged locomotion by approximating it with an equivalent articulated robot with elastic joints. For concreteness…
Wearable robots are designed to be worn on the human body. Taking advantage of their physical form, various applications for wearable robots are being considered. This study proposes a wearable robot worn on the abdomen and a new…
Animals use limbs for both locomotion and manipulation. We aim to equip quadruped robots with similar versatility. This work introduces a system that enables quadruped robots to interact with objects using their legs, inspired by…
Under-actuated compliant robotic systems offer a promising approach to mitigating actuation and control challenges by harnessing pre-designed, embodied dynamic behaviors. This paper presents Flix-Walker, a novel, untethered,…
This paper presents a system for enabling real-time synthesis of whole-body locomotion and manipulation policies for real-world legged robots. Motivated by recent advancements in robot simulation, we leverage the efficient parallelization…
Legged locomotion is a highly promising but under-researched subfield within the field of soft robotics. The compliant limbs of soft-limbed robots offer numerous benefits, including the ability to regulate impacts, tolerate falls, and…
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 introduce the humanoid robot DRACO 3 by providing a high-level description of its design and control. This robot features proximal actuation and mechanical artifacts to provide a high range of hip, knee and ankle motion.…
Payload transport over flat terrain via multi-wheel robot carriers is well-understood, highly effective, and configurable. In this paper, our goal is to provide similar effectiveness and configurability for transport over rough terrain that…
Legged locomotion enables robotic systems to traverse extremely challenging terrains. In many real-world scenarios, the terrain is not that difficult and these mixed terrain types introduce the need for flexible use of different walking…
This manuscript introduces an object deformability-agnostic framework for co-carrying tasks that are shared between a person and multiple robots. Our approach allows the full control of the co-carrying trajectories by the person while…
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…