7 accepted papers
Whole-body loco-manipulation for quadruped robots with arms remains a challenging problem, particularly in achieving multi-task control. To address this, we propose MLM, a reinforcement learning framework driven by both real-world and simulation data. It enables a six-DoF robotic arm–equipped quadru
Legged locomotion in constrained spaces (called crawl spaces) is challenging. In crawl spaces, current proprioceptive locomotion learning methods are difficult to achieve traverse because only ground features are inferred. In this study, a point cloud supervised RL framework for proprioceptive locom
Multi-legged robots offer enhanced stability to navigate complex terrains with their multiple legs interacting with the environment. However, how to effectively coordinate the multiple legs in a larger action exploration space to generate natural and robust movements is a key issue. In this paper, w
Developing both robust and agile locomotion skills for legged robots is non-trivial. In this work, we present the first blind locomotion system capable of traversing challenging terrains robustly while moving rapidly over natural terrains. Our approach incorporates the Adversarial Motion Priors (AMP
By effectively utilizing the fidelity of a physical simulation and the flexibility of a numerical simulation, the hybrid simulation is applicable to test the complicated docking contact process of various kinds of spacecraft. However, the hybrid simulation of space docking often has a divergence or
The autonomous robots consisting of an immovable lander and a rover are widely deployed to explore extraterrestrial planets. However, these robots have two main limitations: (1) the separate design for lander and rover respectively results in heavy mass and big volume of the whole system, which incr…
Staircase is a typical obstacle for the legged robot to overcome in buildings. This paper studies the stair climbing capability-based dimensional synthesis for a hexapod legged robot, i.e., exploring how to determine the leg length and the longitudinal body length concerning the target staircase in…