9 accepted papers
Modern robotic controllers are typically designed in simulation and subsequently deployed on real robots. However, discrepancies between simulated and actual actuator torque often lead to sim-to-real (sim2real) problems. Various actuator approaches have been proposed to address this problem, but whe…
Path planning in obstacle-dense environments is a challenging problem, particularly for robots with asymmetric rectangular footprints. To address this problem, we propose a novel collision-checking approach, called a Rotatable Area, which represents a range of heading angles where the robot can rota…
A manipulator mounted on a mobility platform requires a design that simultaneously meets the demands for lightweight, compactness, and energy efficiency. A gravity compensator is an effective solution that mechanically offsets the gravity torque caused by the weight of the manipulator links, enablin
This paper introduces a force-controllable quadruped robot system consists of twelve Actuator Modules embedded a novel Capacitive-type Joint Torque Sensor (CJTS) which is accurate (0.05 Nm), robust to impact, and easy to manufacture at low cost. The Actuator Module with CJTS shows accurate joint tor…
In this paper, we present a novel framework for quadrupedal stair climbing, which considers force interaction with stairs. For stable and robust climbing, a key issue is to avoid falling down on the stairs. From this point of view, control to minimize rate of change of angular momentum about Center…
Intrinsic problems for legged robots are `low energy efficiency' and `slow speed'. In this paper, we introduce a possible solution achieved through biological observations and developed a robotic leg applying the proposed method. The proposed robotic leg, AiDIN-IV Leg (Artificial DIgitigrade for Nat…
In running, legged animals take advantages of their flexible bodies to increase their locomotion performance, resulting in superior mobility and fast motions. Previous works on quadruped robots mostly used the simplified model with massless legs. However, in reality, a leg consists of two or three s…
Various control strategies using trajectory planning, object recognition and learning are researched for avoiding obstacles when legged robot is walking. In this paper, designed trajectory by using Non Uniform Basis Spline (NUBS) curve and control strategy, by using proposed trajectory, to effective…
Most legged animals exploit flexible body and supporting muscles to produce power for dynamic behaviors which results in fast locomotion and additional mobility. Previous works have focused on the symmetric flexible body with massless legs associated to the body. However, body bending in animals dur…