相关论文: Zippy: The smallest power-autonomous bipedal robot

Multi-legged mobile robots possess high mobility performance in rough terrain environments, stemming from their high postural stability, joint flexibility, and the redundancy provided by multiple legs. In prior research on navigating…

This study presents an analysis of experimental data from Harpy, a thruster-assisted bipedal robot developed at Northeastern University. The study examines data sets from trotting and jumping experiments to understand the fundamental…

The flight of biological butterflies represents a unique aerodynamic regime where high-amplitude, low-frequency wingstrokes induce significant body undulations and inertial fluctuations. While existing tailless flapping-wing micro air…

The ability to track a general walking path with specific timing is crucial to the operational safety and reliability of bipedal robots for avoiding dynamic obstacles, such as pedestrians, in complex environments. This paper introduces an…

A safety-critical measure of legged locomotion performance is a robot's ability to track its desired time-varying position trajectory in an environment, which is herein termed as "global-position tracking". This paper introduces a nonlinear…

Gait generation for soft robots is challenging due to the nonlinear dynamics and high dimensional input spaces of soft actuators. Limitations in soft robotic control and perception force researchers to hand-craft open loop controllers for…

This paper presents an algorithm that finds a centroidal motion and footstep plan for a Spring-Loaded Inverted Pendulum (SLIP)-like bipedal robot model substantially faster than real-time. This is achieved with a novel representation of the…

Snapping instabilities in soft structures offer a powerful pathway to achieve rapid and energy-efficient actuation. In this study, an eccentric dome-shaped snapping actuator is developed to generate controllable asymmetric motion through…

Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These techniques are commonly seen in nature, such as Chukar birds…

Underwater vehicles have seen significant development over the past seventy years. However, bio-inspired propulsion robots are still in their early stages and require greater interdisciplinary collaboration between biologists and…

Jumping is an efficient locomotion strategy to traverse cluttered, uneven, or unstable environments in nature, yet replicating continuous, autonomous leaping in soft robots remains challenging due to limited energy storage and reliance on…

We introduce Berkeley Humanoid, a reliable and low-cost mid-scale humanoid research platform for learning-based control. Our lightweight, in-house-built robot is designed specifically for learning algorithms with low simulation complexity,…

The importance of humanoid robots in today's world is undeniable, one of the most important features of humanoid robots is the ability to maneuver in environments such as stairs that other robots can not easily cross. A suitable algorithm…

Quadrupeds are strong candidates for navigating challenging environments because of their agile and dynamic designs. This paper presents a methodology that extends the range of exploration for quadrupedal robots by creating an end-to-end…

Parallel robots are capable of high-speed manipulation and have become essential tools in the industry. The proximal placement of their motors and the low weight of their end effectors make them ideal for generating highly dynamic motion.…

Practical bipedal robot locomotion needs to be both energy efficient and robust to variability and uncertainty. In this paper, we build upon recent works in trajectory optimization for robot locomotion with two primary goals. First, we wish…

Global position control for underactuated bipedal walking is a challenging problem due to the lack of actuation on the feet of the robots. In this paper, we apply the Hybrid-Linear Inverted Pendulum (H-LIP) based stepping on 3D…

Quadruped robots must exhibit robust walking capabilities in practical applications. In this work, we propose a novel approach that enables quadruped robots to pass various small obstacles, or "tiny traps". Existing methods often rely on…

Bipedal robots represent a remarkable and sophisticated class of robotics, designed to emulate human form and movement. Their development marks a significant milestone in the field. However, even the most advanced bipedal robots face…

Walking is a common bipedal and quadrupedal gait and is often associated with terrestrial and aquatic organisms. Inspired by recent evidence of the neural underpinnings of primitive aquatic walking in the little skate Leucoraja erinacea, we…