相关论文: ClipBot: an educational, physically impaired robot…
Multi-legged robots offer enhanced stability in complex terrains, yet autonomously learning natural and robust motions in such environments remains challenging. Drawing inspiration from animals' progressive learning patterns, from simple to…
Quadrupedal robots have played a crucial role in various environments, from structured environments to complex harsh terrains, thanks to their agile locomotion ability. However, these robots can easily lose their locomotion functionality if…
In this paper, we propose a novel approach to wheeled robot navigation through an environment with movable obstacles. A robot exploits knowledge about different obstacle classes and selects the minimally invasive action to perform to clear…
The challenge of robotic reproduction -- making of new robots by recombining two existing ones -- has been recently cracked and physically evolving robot systems have come within reach. Here we address the next big hurdle: producing an…
Numerous algorithms have been proposed to allow legged robots to learn to walk. However, the vast majority of these algorithms is devised to learn to walk in a straight line, which is not sufficient to accomplish any real-world mission.…
Although recent years have seen significant progress of humanoid robots in walking and running, the frequent foot strikes with ground during these locomotion gaits inevitably generate high instantaneous impact forces, which leads to…
We present the GRASPion, a compact, open-source bristlebot designed for the controlled study of active matter systems. Built around a low-cost Arduino-compatible board and modular 3D-printed components, the GRASPion combines ease of use,…
Humanoid robots are well suited for human habitats due to their morphological similarity, but developing controllers for them is a challenging task that involves multiple sub-problems, such as control, planning and perception. In this…
This article introduces "Baby Robot", a robot aiming to improve motor skills of babies and toddlers. Authors developed a car-like toy that moves autonomously using reinforcement learning and computer vision techniques. The robot behaviour…
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,…
In adaptive dynamic programming, neurocontrol and reinforcement learning, the objective is for an agent to learn to choose actions so as to minimise a total cost function. In this paper we show that when discretized time is used to model…
Legged robots are able to navigate complex terrains by continuously interacting with the environment through careful selection of contact sequences and timings. However, the combinatorial nature behind contact planning hinders the…
Limbless locomotors, from microscopic worms to macroscopic snakes, traverse complex, heterogeneous natural environments typically using undulatory body wave propagation. Theoretical and robophysical models typically emphasize body…
It is essential yet challenging for future home-assistant robots to understand and manipulate diverse 3D objects in daily human environments. Towards building scalable systems that can perform diverse manipulation tasks over various 3D…
Designing agile locomotion for quadruped robots often requires extensive expertise and tedious manual tuning. In this paper, we present a system to automate this process by leveraging deep reinforcement learning techniques. Our system can…
Quadrupedal robots can learn versatile locomotion skills but remain vulnerable when one or more joints lose power. In contrast, dogs and cats can adopt limping gaits when injured, demonstrating their remarkable ability to adapt to physical…
We investigate the use of prior knowledge of human and animal movement to learn reusable locomotion skills for real legged robots. Our approach builds upon previous work on imitating human or dog Motion Capture (MoCap) data to learn a…
While quadruped robots usually have good stability and load capacity, bipedal robots offer a higher level of flexibility / adaptability to different tasks and environments. A multi-modal legged robot can take the best of both worlds. In…
Quadruped robots must exhibit robust walking capabilities in practical applications. In this work, we propose a novel approach that enables quadruped robots to pass various small obstacles, or "tiny traps". Existing methods often rely on…
Humans show an innate capability to identify tools to support specific actions. The association between objects parts and the actions they facilitate is usually named affordance. Being able to segment objects parts depending on the tasks…