相关论文: PANOS: Payload-Aware Navigation in Offroad Scenari…
In contrast to quadruped robots that can navigate diverse terrains using a "blind" policy, humanoid robots require accurate perception for stable locomotion due to their high degrees of freedom and inherently unstable morphology. However,…
Robot multimodal locomotion encompasses the ability to transition between walking and flying, representing a significant challenge in robotics. This work presents an approach that enables automatic smooth transitions between legged and…
This work is on vision-based planning strategies for legged robots that separate locomotion planning into foothold selection and pose adaptation. Current pose adaptation strategies optimize the robot's body pose relative to given footholds.…
The ability to efficiently and effectively explore planetary surfaces is currently limited by the capability of wheeled rovers to traverse challenging terrains, and by pre-programmed data acquisition plans with limited in-situ flexibility.…
We present Visual Navigation and Locomotion over obstacles (ViNL), which enables a quadrupedal robot to navigate unseen apartments while stepping over small obstacles that lie in its path (e.g., shoes, toys, cables), similar to how humans…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
Reinforcement learning (RL), driven by data-driven methods, has become an effective solution for robot leg motion control problems. However, the mainstream RL methods for bipedal robot terrain traversal, such as teacher-student policy…
Legged robots have shown remarkable advantages in navigating uneven terrain. However, realizing effective locomotion and manipulation tasks on quadruped robots is still challenging. In addition, object and terrain parameters are generally…
This article presents Platform Adaptive Locomotion (PAL), a unified control method for quadrupedal robots with different morphologies and dynamics. We leverage deep reinforcement learning to train a single locomotion policy on procedurally…
Wheeled robots have recently demonstrated superior mechanical capability to traverse vertically challenging terrain (e.g., extremely rugged boulders comparable in size to the vehicles themselves). Negotiating such terrain introduces…
Autonomous navigation in unstructured environments requires robots to assess terrain difficulty in real-time and plan paths that balance efficiency with safety. This thesis presents a traversability-aware navigation framework for the M4…
Autonomous robots navigating in off-road terrain like forests open new opportunities for automation. While off-road navigation has been studied, existing work often relies on clearly delineated pathways. We present a method allowing for…
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…
Millirobots are a promising robotic platform for many applications due to their small size and low manufacturing costs. Legged millirobots, in particular, can provide increased mobility in complex environments and improved scaling of…
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…
The outdoor navigation capabilities of ground robots have improved significantly in recent years, opening up new potential applications in a variety of settings. Cost-based representations of the environment are frequently used in the path…
Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…
Legged robots, specifically quadrupeds, are becoming increasingly attractive for industrial applications such as inspection. However, to leave the laboratory and to become useful to an end user requires reliability in harsh conditions. From…
We propose a novel method for autonomous legged robot navigation in densely vegetated environments with a variety of pliable/traversable and non-pliable/untraversable vegetation. We present a novel few-shot learning classifier that can be…
In-situ robotic exploration is an important tool for advancing knowledge of geological processes that describe the Earth and other Planetary bodies. To inform and enhance operations for these roving laboratories, it is imperative to…