相关论文: Proprioception and reaction for walking among enta…
Motion planning trajectories for a multi-limbed robot to climb up walls requires a unique combination of constraints on torque, contact force, and posture. This paper focuses on motion planning for one particular setup wherein a six-legged…
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…
Robots are becoming more capable and can autonomously perform tasks such as navigating between locations. However, human oversight remains crucial. This study compared two touchless methods for directing mobile robots: voice control and…
This paper introduces the Terrain Recognition And Contact Force Estimation Paw, a compact and sensorized shoe designed for legged robots. The paw end-effector is made of silicon that deforms upon the application of contact forces, while an…
The interception of moving targets is a widely studied issue. In this paper, we propose an algorithm of intercepting the moving target with a wheeled mobile robot in a dynamic environment. We first predict the future position of the target…
Proprioception is a human sense that provides feedback from muscles and joints about body position and motion. This key capability keeps us upright, moving, and responding quickly to slips or stumbles. In this paper we discuss a…
In order to be effective teammates, robots need to be able to understand high-level human behavior to recognize, anticipate, and adapt to human motion. We have designed a new approach to enable robots to perceive human group motion in…
Designing robots capable of traversing uneven terrain and overcoming physical obstacles has been a longstanding challenge in the field of robotics. Walking robots show promise in this regard due to their agility, redundant DOFs and…
Humans possess a remarkable ability to react to unpredictable perturbations through immediate mechanical responses, which harness the visco-elastic properties of muscles to maintain balance. Inspired by this behaviour, we propose a novel…
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…
Robots that physically interact with their surroundings, in order to accomplish some tasks or assist humans in their activities, require to exploit contact forces in a safe and proficient manner. Impedance control is considered as a…
We propose in this paper Periodic Interaction Primitives - a probabilistic framework that can be used to learn compact models of periodic behavior. Our approach extends existing formulations of Interaction Primitives to periodic movement…
Deep reinforcement learning (RL) based controllers for legged robots have demonstrated impressive robustness for walking in different environments for several robot platforms. To enable the application of RL policies for humanoid robots in…
Despite recent remarkable achievements in quadruped control, it remains challenging to ensure robust and compliant locomotion in the presence of unforeseen external disturbances. Existing methods prioritize locomotion robustness over…
Muddy terrains present significant challenges for terrestrial robots, as subtle changes in composition and water content can lead to large variations in substrate strength and force responses, causing the robot to slip or get stuck. This…
Many applications require robots to move through complex 3-D terrain with large obstacles, such as self-driving, search and rescue, and extraterrestrial exploration. Although robots are already excellent at avoiding sparse obstacles, they…
Advances in wearable robotics challenge the traditional definition of human motor systems, as wearable robots redefine body structure, movement capability, and perception of their own bodies. We measured gait performance and perceived body…
Patrolling consists of scheduling perpetual movements of a collection of mobile robots, so that each point of the environment is regularly revisited by any robot in the collection. In previous research, it was assumed that all points of the…
The security issue of mobile robots has attracted considerable attention in recent years. In this paper, we propose an intelligent physical attack to trap mobile robots into a preset position by learning the obstacle-avoidance mechanism…
We present a novel control strategy for dynamic legged locomotion in complex scenarios, that considers information about the morphology of the terrain in contexts when only on-board mapping and computation are available. The strategy is…