相关论文: Robust Robot Walker: Learning Agile Locomotion ove…

In collective motion, perceptually-limited individuals move in an ordered manner, without centralized control. The perception of each individual is highly localized, as is its ability to interact with others. While natural collective motion…

Quadruped robots have strong adaptability to extreme environments but may also experience faults. Once these faults occur, robots must be repaired before returning to the task, reducing their practical feasibility. One prevalent concern…

This study focuses on the locomotion capability improvement in a tendon-driven soft quadruped robot through an online adaptive learning approach. Leveraging the inverse kinematics model of the soft quadruped robot, we employ a central…

In the context of legged robots, adaptive behavior involves adaptive balancing and adaptive swing foot reflection. While adaptive balancing counteracts perturbations to the robot, adaptive swing foot reflection helps the robot to navigate…

Climbing, crouching, bridging gaps, and walking up stairs are just a few of the advantages that quadruped robots have over wheeled robots, making them more suitable for navigating rough and unstructured terrain. However, executing such…

Modern Reinforcement Learning (RL) algorithms promise to solve difficult motor control problems directly from raw sensory inputs. Their attraction is due in part to the fact that they can represent a general class of methods that allow to…

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…

Achieving safe, reliable real-world robotic manipulation requires agents to evolve beyond vision and incorporate tactile sensing to overcome sensory deficits and reliance on idealised state information. Despite its potential, the efficacy…

Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…

We present a footstep planning policy for quadrupedal locomotion that is able to directly take into consideration a-priori safety information in its decisions. At its core, a learning process analyzes terrain patches, classifying each…

One of the typical purposes of using lower-limb exoskeleton robots is to provide assistance to the wearer by supporting their weight and augmenting their physical capabilities according to a given task and human motion intentions. The…

Torque control algorithms which consider robot dynamics and contact constraints are important for creating dynamic behaviors for humanoids. As computational power increases, algorithms tend to also increase in complexity. However, it is not…

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…

We propose a control framework that integrates model-based bipedal locomotion with residual reinforcement learning (RL) to achieve robust and adaptive walking in the presence of real-world uncertainties. Our approach leverages a model-based…

This paper presents a novel approach for representing proprioceptive time-series data from quadruped robots as structured two-dimensional images, enabling the use of convolutional neural networks for learning locomotion-related tasks. The…

Urban search and rescue missions require rapid first response to minimize loss of life and damage. Often, such efforts are assisted by humanitarian robots which need to handle dynamic operational conditions such as uneven and rough…

Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the robot without interfering with the target direction and speed…

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…

Reinforcement learning (RL) has shown great potential in enabling quadruped robots to perform agile locomotion. However, directly training policies to simultaneously handle dual extreme challenges, i.e., extreme underactuation and extreme…

Generating dynamic jumping motions on legged robots remains a challenging control problem as the full flight phase and large landing impact are expected. Compared to quadrupedal robots or other multi-legged robots, bipedal robots place…