相关论文: A Reconfigured Wheel-Legged Robot for Enhanced Ste…
Locomotion has seen dramatic progress for walking or running across challenging terrains. However, robotic quadrupeds are still far behind their biological counterparts, such as dogs, which display a variety of agile skills and can use the…
Traversing risky terrains with sparse footholds poses a significant challenge for humanoid robots, requiring precise foot placements and stable locomotion. Existing learning-based approaches often struggle on such complex terrains due to…
In this paper, we describe an approach to achieve dynamic legged locomotion on physical robots which combines existing methods for control with reinforcement learning. Specifically, our goal is a control hierarchy in which highest-level…
In this paper, we present the development of 4-DOF robot limbs, which we call Moonbots, designed to connect in various configurations with each other and wheel modules, enabling adaptation to different environments and tasks. These modular…
Self-assembly of modular robotic systems enables the construction of complex robotic configurations to adapt to different tasks. This paper presents a framework for SMORES types of modular robots to efficiently self-assemble into tree…
Safety concerns during the operation of legged robots must be addressed to enable their widespread use. Machine learning-based control methods that use model-based constraints provide promising means to improve robot safety. This study…
This paper presents a novel learning-based control framework that uses keyframing to incorporate high-level objectives in natural locomotion for legged robots. These high-level objectives are specified as a variable number of partial or…
Legged robots have the potential to traverse complex terrain and access confined spaces beyond the reach of traditional platforms thanks to their ability to carefully select footholds and flexibly adapt their body posture while walking.…
Animals such as rabbits and birds can instantly generate locomotion behavior in reaction to a dynamic, approaching object, such as a person or a rock, despite having possibly never seen the object before and having limited perception of the…
Learning from Demonstration (LfD) approaches empower end-users to teach robots novel tasks via demonstrations of the desired behaviors, democratizing access to robotics. However, current LfD frameworks are not capable of fast adaptation to…
Multi-legged robots (MLRs) are vulnerable to leg damage during complex missions, which can impair their performance. This paper presents a self-modeling and damage identification algorithm that enables autonomous adaptation to partial or…
Traditional one-step preview planning algorithms for bipedal locomotion struggle to generate viable gaits when walking across terrains with restricted footholds, such as stepping stones. To overcome such limitations, this paper introduces a…
We present a versatile framework for the computational co-design of legged robots and dynamic maneuvers. Current state-of-the-art approaches are typically based on random sampling or concurrent optimization. We propose a novel bilevel…
In recent years, artificial feet based on soft robotics and under-actuation principles emerged to improve mobility on challenging terrains. This paper presents the application of the MuJoCo physics engine to realize a digital twin of an…
Recently, reinforcement learning has become a promising and polular solution for robot legged locomotion. Compared to model-based control, reinforcement learning based controllers can achieve better robustness against uncertainties of…
Simultaneous locomotion and manipulation enables robots to interact with their environment beyond the constraints of a fixed base. However, coordinating legged locomotion with arm manipulation, while considering safety and compliance during…
Navigating rugged landscapes poses significant challenges for legged locomotion. Multi-legged robots (those with 6 and greater) offer a promising solution for such terrains, largely due to their inherent high static stability, resulting…
Wheel-legged robots with integrated manipulators hold great promise for mobile manipulation in logistics, industrial automation, and human-robot collaboration. However, unified control of such systems remains challenging due to the…
In nature, animals with exceptional locomotion abilities, such as cougars, often possess asymmetric fore and hind legs. This observation inspired us: could optimizing the leg length of quadruped robots endow them with similar locomotive…
Legged robots have excellent terrestrial mobility for traversing diverse environments and thus have the potential to be deployed in a wide variety of scenarios. However, they are susceptible to falling and leg malfunction during locomotion.…