14 accepted papers
Legged robots are supposed to traverse complicated environments, which makes it challenging to design a model-based controller due to their functional complexity. Currently, using deep reinforcement learning to improve the adaptability of robots in complex scenarios has been a major research trend.
Terrain classification is crucial for assessing terrain traversability and supporting locomotion control of legged robots. By integrating multi-source sensor information, including exteroceptive sensors and proprioceptive sensors, legged robots can acquire terrain geometric features and surface cove
Humanoid robots are vital tools for substituting humans in various operational scenarios. A sufficiently large stationary reachability is a key factor in ensuring their operational capability. To address this challenge, this paper proposes a whole-body reachability enhancing approach for humanoid ro
With the aging of critical infrastructure like bridges and plant facilities, the development of innovative wall-climbing robots using permanent magnets has become increasingly important. Traditional designs of such robots depend on controlling the position of lifters or permanent magnets to control
This letter presents a control framework for legged robots that enables self-perception and resistance to external disturbances. First, a novel proprioceptive-based disturbance estimator is proposed. Compared with other disturbance estimators, this estimator possesses notable advantages in terms of
A novel legged robot with 6 limbs driven by 20 proprioceptive motors, named SDUHex, is proposed in this letter. The limbs located at the middle of the robot can work as manipulators or locomotors. The topology design of the multi-mode robot is introduced and the kinematics and dynamics of the robot
Compared with torque-control techniques, a position-controlled quadruped robot is lower cost, easier to build, and more direct to drive. However, the stiff actuation of position-controlled actuators makes it difficult for the quadruped to achieve dynamically stable locomotion. This paper presents an…
A floating base system is inevitably to contact the environment while it is moving. This paper explores the contact force estimation and regulation algorithm for a position-controlled floating base system without joint torque information. First, the joint space dynamic model of the system is present…
To access rough terrain and enhance the mobility in sandy terrain, a configurable paddle-wheel robot was pro-posed. This report addresses the paddle terradynamics, and the experimental verification of the locomotion performance of the robot over dry sandy terrain. To study the interactive forces bet…
To enhance the motion performance of all-terrain robots, an eccentric paddle mechanism (ePaddle) based on planet gear mechanism was designed. This letter is on the design, control scheme, and implementation of a wheel-paddle integrated quadruped robot based on the ePaddle mechanism. To ensure the re
This paper presents the dynamic modelling and motion planning method for a quadruped robot that uses its legs for nonprehensile manipulation as well as locomotion. Three different working modes named Drive Mode, Inchworm Mode and Scoot Mode are proposed to enable the robot to move forward together w…
This paper presents the dynamic modelling and motion planning method for a quadruped robot that uses its legs for nonprehensile manipulation as well as locomotion. Three different working modes named Drive Mode, Inchworm Mode and Scoot Mode are proposed to enable the robot to move forward together w
This paper explores the control strategy for a multi-limb robot nonprehensilely pushing an object to slide on the floor. The robot's limb distals perform point contacts with the object and the floor. The contact velocity constraint and force constraint are proposed to prevent separation and restrict…
A novel gait planning and control framework was developed for quadruped locomotion of a robot. It modeled the quadruped robot as two bipeds carrying the body from the front and rear ends. We first mapped the relationship between the joint torques of support legs and the torso forces of the bipedal s…