相关论文: Quadrupedal Spine Control Strategies: Exploring Co…

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…

Learning highly dynamic behaviors for robots has been a longstanding challenge. Traditional approaches have demonstrated robust locomotion, but the exhibited behaviors lack diversity and agility. They employ approximate models, which lead…

Nature suggests that exploiting the elasticities and natural dynamics of robotic systems could increase their locomotion efficiency. Prior work on elastic snake robots supports this hypothesis, but has not fully exploited the nonlinear…

For legged robots to match the athletic capabilities of humans and animals, they must not only produce robust periodic walking and running, but also seamlessly switch between nominal locomotion gaits and more specialized transient…

Robust closed-loop locomotion remains challenging for soft quadruped robots due to high-dimensional dynamics, actuator hysteresis, and difficult-to-model contact interactions, while conventional proprioception provides limited information…

Humanoid robot soccer presents several challenges, particularly in maintaining system stability during aggressive kicking motions while achieving precise ball trajectory control. Current solutions, whether traditional position-based control…

In this paper, we present a hardware-control co-design approach that enables efficient and versatile roller skating on quadrupedal robots equipped with passive wheels. Passive-wheel skating reduces leg inertia and improves energy…

Stabilizing legged robot locomotion on a dynamic rigid surface (DRS) (i.e., rigid surface that moves in the inertial frame) is a complex planning and control problem. The complexity arises due to the hybrid nonlinear walking dynamics…

Contact modeling plays a central role in motion planning, simulation, and control of legged robots, as legged locomotion is realized through contact. The two prevailing approaches to model the contact consider rigid and compliant premise at…

Some of the most challenging environments on our planet are accessible to quadrupedal animals but remain out of reach for autonomous machines. Legged locomotion can dramatically expand the operational domains of robotics. However,…

Hybrid track/wheel-legged robots combine the advantages of wheel-based and leg-based locomotion, granting adaptability across varied terrains through efficient transitions between rolling and walking modes. However, automating these…

Deep reinforcement learning has emerged as a popular and powerful way to develop locomotion controllers for quadruped robots. Common approaches have largely focused on learning actions directly in joint space, or learning to modify and…

Most of the quadrupeds developed are highly actuated, and their control is hence quite cumbersome. They need advanced electronics equipment to solve convoluted inverse kinematic equations continuously. In addition, they demand special and…

This work presents algorithms for the feedback-stabilised walking of bipedal humanoid robotic platforms, along with the underlying theoretical and sensorimotor frameworks required to achieve it. Bipedal walking is inherently complex and…

This work focuses on sampling strategies of configuration variations for generating robust universal locomotion policies for quadrupedal robots. We investigate the effects of sampling physical robot parameters and joint…

Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a…

Controlled execution of dynamic motions in quadrupedal robots, especially those with articulated soft bodies, presents a unique set of challenges that traditional methods struggle to address efficiently. In this study, we tackle these…

In this work we present a trajectory Optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automatically discover different gaits and dynamic motions on a…

This paper addresses the design and development of an autonomous biped robot using master and worker combination of controllers. In addition, the bot is wirelessly controllable. The work presented here explains the walking pattern, system…

In this paper, we present a complete description of the hardware design and control architecture of our custom built quadruped robot, called the `Stoch'. Our goal is to realize a robust, modular, and a reliable quadrupedal platform, using…