相关论文: A Reconfigured Wheel-Legged Robot for Enhanced Ste…
Imagine a swarm of terrestrial robots that can explore an environment, and, upon completion of this task, reconfigure into a spherical ball and roll out. This dimensional change alters the dynamics of locomotion and can assist them to…
Legged robots have the potential to become vital in maintenance, home support, and exploration scenarios. In order to interact with and manipulate their environments, most legged robots are equipped with a dedicated robot arm, which means…
This paper presents a role-adaptive Leader-Follower-based formation planning and control framework for teams of quadruped robots operating in cluttered environments. Unlike conventional methods with fixed leaders or rigid formation roles,…
Most birds can navigate seamlessly between aerial and terrestrial environments. Whereas the forelimbs evolved into wings primarily for flight, the hindlimbs serve diverse functions such as walking, hopping, and leaping, and jumping take-off…
We present a novel controller design on a robotic locomotor that combines an aerial vehicle with a spring-loaded leg. The main motivation is to enable the terrestrial locomotion capability on aerial vehicles so that they can carry heavy…
Off-road navigation on vertically challenging terrain, involving steep slopes and rugged boulders, presents significant challenges for wheeled robots both at the planning level to achieve smooth collision-free trajectories and at the…
Fast and modular modeling of multi-legged robots (MLRs) is essential for resilient control, particularly under significant morphological changes caused by mechanical damage. Conventional fixed-structure models, often developed with…
Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or otherwise inaccessible environments. Although most legged robotics research to date typically focuses on traversing these challenging environments,…
In biomechanics and robotics, elasticity plays a crucial role in enhancing locomotion efficiency and stability. Traditional approaches in legged robots often employ series elastic actuators (SEA) with discrete rigid components, which, while…
Model-based control usually relies on an accurate model, which is often obtained from CAD and actuator models. The more accurate the model the better the control performance. However, in bipedal robots that demonstrate high agility actions,…
Quadruped robots are becoming increasingly essential for various applications, including industrial inspection and catastrophe search and rescue. These scenarios require robots to possess enhanced agility and obstacle-navigation skills.…
Bird-sized flapping-wing robots offer significant potential for agile flight in complex environments, but achieving agile and robust trajectory tracking remains a challenge due to the complex aerodynamics and highly nonlinear dynamics…
Complex multibody legged robots can have complex rotational control challenges. In this paper, we propose a concise way to understand and formulate a \emph{whole-body orientation} that (i) depends on system configuration only and not a…
This paper presents a comprehensive study on using deep reinforcement learning (RL) to create dynamic locomotion controllers for bipedal robots. Going beyond focusing on a single locomotion skill, we develop a general control solution that…
In lunar and planetary exploration, legged robots have attracted significant attention as an alternative to conventional wheeled robots, which struggle to traverse rough and uneven terrain. To enable locomotion over highly irregular and…
The robustness of legged locomotion is crucial for quadrupedal robots in challenging terrains. Recently, Reinforcement Learning (RL) has shown promising results in legged locomotion and various methods try to integrate privileged…
In this paper, we present RhoMorph, a novel deformable planar lattice modular self-reconfigurable robot (MSRR) with a rhombus shaped module. Each module consists of a parallelogram skeleton with a single centrally mounted actuator that…
Humanoids are versatile robotic platforms owing to their limbs with multiple degrees of freedom. Although humanoids can walk like humans, they are relatively slow, and cannot run over large barriers. To address these limitations, we aim to…
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…
Humanoid robots are increasingly demanded to operate in interactive and human-surrounded environments while achieving sophisticated locomotion and manipulation tasks. To accomplish these tasks, roboticists unremittingly seek for advanced…