相关论文: Energy-Efficient Quadruped Locomotion with Complia…
It is often overlooked by roboticists when designing locomotion controllers for their legged machines, that energy consumption plays an important role in selecting the best gaits for locomotion at high speeds or over long distances. The…
This paper is dedicated to the development of a novel adaptive torsion spring mechanism for optimizing energy consumption in legged robots. By adjusting the equilibrium position and stiffness of the spring, the system improves energy…
Taking inspiration from the natural gait transition mechanism of quadrupeds, devising a good gait transition strategy is important for quadruped robots to achieve energy-efficient locomotion on various terrains and velocities. While…
In the fields of robotics and biomechanics, the integration of elastic elements such as springs and tendons in legged systems has long been recognized for enabling energy-efficient locomotion. Yet, a significant challenge persists:…
Quadruped animals are capable of exhibiting a diverse range of locomotion gaits. While progress has been made in demonstrating such gaits on robots, current methods rely on motion priors, dynamics models, or other forms of extensive manual…
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…
Energy efficiency is a critical factor in the performance and autonomy of quadrupedal robots. While previous research has focused on mechanical design and actuation improvements, the impact of gait parameters on energetics has been less…
We present a model-based framework for robot locomotion that achieves walking based on only 4.5 minutes (45,000 control steps) of data collected on a quadruped robot. To accurately model the robot's dynamics over a long horizon, we…
Legged locomotion is commonly studied and expressed as a discrete set of gait patterns, like walk, trot, gallop, which are usually treated as given and pre-programmed in legged robots for efficient locomotion at different speeds. However,…
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…
Quadruped robots are designed to achieve agile and robust locomotion by drawing inspiration from legged animals. However, most existing control methods for quadruped robots lack a key capacity observed in animals: the ability to exhibit…
Robot feet are crucial for maintaining dynamic stability and propelling the body during walking, especially on uneven terrains. Traditionally, robot feet were mostly designed as flat and stiff pieces of metal, which meets its limitations…
Recent advancements in legged locomotion research have made legged robots a preferred choice for navigating challenging terrains when compared to their wheeled counterparts. This paper presents a novel locomotion policy, trained using Deep…
Galloping is a common high-speed gait in both animals and quadrupedal robots, yet its energetic characteristics remain insufficiently explored. This study systematically analyzes a large number of possible galloping gaits by categorizing…
Spring-based actuators in legged locomotion provide energy-efficiency and improved performance, but increase the difficulty of controller design. While previous work has focused on extensive modeling and simulation to find optimal…
Wheeled-legged robots combine the efficiency of wheels with the versatility of legs, but face significant energy optimization challenges when navigating diverse environments. In this work, we present a hierarchical control framework that…
Achieving controlled jumping behaviour for a quadruped robot is a challenging task, especially when introducing passive compliance in mechanical design. This study addresses this challenge via imitation-based deep reinforcement learning…
A distinctive feature of quadrupeds that is integral to their locomotion is the tail. Tails serve many purposes in biological systems including propulsion, counterbalance, and stabilization while walking, running, climbing, or jumping.…
We focus on the problem of developing energy efficient controllers for quadrupedal robots. Animals can actively switch gaits at different speeds to lower their energy consumption. In this paper, we devise a hierarchical learning framework,…
Legged rovers provide enhanced mobility compared to wheeled platforms, enabling navigation on steep and irregular planetary terrains. However, traditional legged locomotion might be energetically inefficient and potentially dangerous to the…