9 accepted papers
Humanoid robots possess the ability to perform complex tasks in challenging environments. However, they require a model of the surroundings in a representation that is sufficient enough for downstream tasks such as footstep planning. The maps generated by existing mapping algorithms are either spars…
Complex multibody legged robots can have complex rotational control challenges. In this paper, we propose a concise way to understand and formulate a whole-body orientation that (i) depends on system configuration only and not a history of motion, (ii) can be representative of the orientation of the…
Obtaining highly dynamic motions in robots is a difficult task. In recent years, sophistication in mechanical design, improved algorithms, and high computational power allows new robots to perform natural gaits and dynamic motions such as backflips. Offline optimization is often necessary to obtain…
Awareness of the environment is essential for mobile robots. Perception for legged robots requires high levels of reliability and accuracy in order to walk stably in the types of complex, cluttered environments we are interested in. In this paper, we present a usable environmental perception algorit…
Performing large step-ups is a challenging task for a humanoid robot. It requires the robot to perform motions at the limit of its reachable workspace while straining to move its body upon the obstacle. This paper presents a non-linear trajectory optimization method for generating step-up motions. W…
When walking at high speeds, the swing legs of robots produce a non-negligible angular momentum rate. To accommodate this, we provide a reference trajectory generator for bipedal walking that incorporates predicted centroidal angular momentum at the planning stage. This can be done efficiently as th…
We present an approach for achieving a natural, efficient gait on bipedal robots using straightened legs and toe-off. Our algorithm avoids complex height planning by allowing a whole-body controller to determine the straightest possible leg configuration at run-time. The controller solutions are bia…
While humans are highly capable of recovering from external disturbances and uncertainties that result in large tracking errors, humanoid robots have yet to reliably mimic this level of robustness. Essential to this is the ability to combine traditional “ankle strategy” balancing with step timing an…
In this paper we introduce STEPPR (Sandia Transmission-Efficient Prototype Promoting Research), a bipedal robot designed to explore efficient bipedal walking. The initial iteration of this robot achieves efficient motions through powerful electromagnetic actuators and highly back-drivable synthetic…