12 accepted papers
Recently, the research on mobile manipulators has attracted increasing attention. Ensuring that mobile manipulators can meet obstacle avoidance constraints and efficiently accomplish assigned tasks in dynamic environments remains a significant challenge. To address this issue, this paper proposes an
Falling is inevitable for legged robots in challenging real-world scenarios, where environments are unstructured and situations are unpredictable, such as uneven terrain in the wild. Hence, to recover from falls and achieve all-terrain traversability, it is essential for intelligent robots to posses
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
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep trajectories for multiple steps. The locomotion task can be defined…
In this letter, we aim to improve the robustness of dynamic quadrupedal locomotion through two aspects: 1) fast model predictive foothold planning, and 2) applying LQR to projected inverse dynamic control for robust motion tracking. In our proposed planning and control framework, foothold plans are
An important issue when synthesizing legged locomotion plans is the combinatorial complexity that arises from gait pattern selection. Though it can be defined manually, the gait pattern plays an important role in the feasibility and optimality of a motion with respect to a task. Replacing human intu…
This paper presents a control framework to teleoperate a quadruped robot's foot for operator-guided haptic exploration of the environment. Since one leg of a quadruped robot typically only has 3 actuated degrees of freedom (DoFs), the torso is employed to assist foot posture control via a hierarchic…
Legged robots have great potential to perform complex loco-manipulation tasks, yet it is challenging to keep the robot balanced while it interacts with the environment. In this paper we investigated the use of additional contact points for maximising the robustness of loco-manipulation motions. Spec…
Real world applications require robots to operate in unstructured environments. This kind of scenarios may lead to unexpected environmental contacts or undesired interactions, which may harm people or impair the robot. Adjusting the behavior of the system through impedance control techniques is an e…
In this paper, we propose a method for selecting the optimal footholds for legged systems. The goal of the proposed method is to find the best foothold for the swing leg on a local elevation map. First, we evaluate the geometrical characteristics of each cell on the elevation map, checks kinematic c…
Legged robots have many potential applications in real-world scenarios where the tasks are too dangerous for humans, and compliance is needed to protect the system against external disturbances and impacts. In this paper, we propose a model-based controller for hierarchical tasks of legged systems s…
We consider a virtual manipulator in grasping scenarios which allows us to capture the effect of the object dynamics. This modeling approach turns a multi-arm robot into an underactuated system. We observe that controlling floating-base multi-leg robots is fundamentally similar. The Projected Invers…