相关论文: Torque Controlled Locomotion of a Biped Robot with…

This paper presents an online framework for synthesizing agile locomotion for bipedal robots that adapts to unknown environments, modeling errors, and external disturbances. To this end, we leverage step-to-step (S2S) dynamics which has…

A common architecture for torque controlled humanoid robots consists in two nested loops. The outer loop generates desired joint/motor torques, and the inner loop stabilises these desired values. In doing so, the inner loop usually…

Robot controllers are often optimised for a single robot in a single environment. This approach proves brittle, as such a controller will often fail to produce sensible behavior for a new morphology or environment. In comparison, animal…

Humanoid robots have the potential capability to perform a diverse range of manipulation tasks, but this is based on a robust and precise standing controller. Existing methods are either ill-suited to precisely control high-dimensional…

Robotic locomotion is often approached with the goal of maximizing robustness and reactivity by increasing motion control frequency. We challenge this intuitive notion by demonstrating robust and dynamic locomotion with a learned motion…

This paper presents a new teleoperated spherical tensegrity robot capable of performing locomotion on steep inclined surfaces. With a novel control scheme centered around the simultaneous actuation of multiple cables, the robot demonstrates…

We study the problem of mobile manipulation using legged robots equipped with an arm, namely legged loco-manipulation. The robot legs, while usually utilized for mobility, offer an opportunity to amplify the manipulation capabilities by…

Most locomotion methods for humanoid robots focus on leg-based gaits, yet natural bipeds frequently rely on hands, knees, and elbows to establish additional contacts for stability and support in complex environments. This paper introduces…

This paper mainly studies the accurate height jumping control of wheeled-bipedal robots based on torque planning and energy consumption optimization. Due to the characteristics of underactuated, nonlinear estimation, and instantaneous…

This work proposes a force control strategy with prescribed transient performance for the legs of a wheel-legged robotic system to realize the posture adjustment on uneven roads. A dynamic model of the robotic system is established with the…

Model-free reinforcement learning (RL) for legged locomotion commonly relies on a physics simulator that can accurately predict the behaviors of every degree of freedom of the robot. In contrast, approximate reduced-order models are…

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…

A significant challenge for the control of a robotic lower extremity rehabilitation exoskeleton is to ensure stability and robustness during programmed tasks or motions, which is crucial for the safety of the mobility-impaired user. Due to…

Advances in legged robotics are strongly rooted in animal observations. A clear illustration of this claim is the generalization of Central Pattern Generators (CPG), first identified in the cat spinal cord, to generate cyclic motion in…

We present a trajectory planning and control architecture for bipedal locomotion at a variety of speeds on a highly underactuated and compliant bipedal robot. A library of compliant walking trajectories are planned offline, and stored as…

Humanoid robots can, in principle, use their legs to go almost anywhere. Developing controllers capable of traversing diverse terrains, however, remains a considerable challenge. Classical controllers are hard to generalize broadly while…

This article propose a whole-body impedance coordinative control framework for a wheel-legged humanoid robot to achieve adaptability on complex terrains while maintaining robot upper body stability. The framework contains a bi-level control…

Robots and control systems rely upon precise timing of sensors and actuators in order to operate intelligently. We present a functioning hexapod robot that walks with a dual tripod gait; each tripod is actuated using its own local…

Snake robots have been studied for decades with the aim of achieving biological snakes' fluent locomotion. Yet, as of today, their locomotion remains far from that of the biological snakes. Our recent study suggested that snake locomotion…

This paper presents a method for achieving high-speed running of a quadruped robot by considering the actuator torque-speed operating region in reinforcement learning. The physical properties and constraints of the actuator are included in…