7 accepted papers
In this paper, we present a low-cost, easy-to-implement sim-to-real framework for biped locomotion that narrows the reality gap using only simulation data, without motion-capture or additional real-world measurements. First, a walking policy for the BRUCE robot is trained in Isaac Gym via reinforcem…
In this paper, we present a low-cost, easy-to-implement sim-to-real framework for biped locomotion that narrows the reality gap using only simulation data, without motion-capture or additional real-world measurements. First, a walking policy for the BRUCE robot is trained in Isaac Gym via reinforcem
Capturability characterizes a safe region of states for humanoid walking and is most commonly constructed by analyzing the one-dimensional divergent component of motion (DCM) of the center of mass. In this work, by exploiting the mathematical structure of the step-to-step (S2S) dynamics, we characte
This study proposes a pose and path planning method based on direction fields, addressing challenges in industrial robot surface machining. These challenges include limited machining accuracy and difficult path planning arising from the robot's low stiffness and high nonlinearity between joint and o
This paper presents a novel concept to develop robots capable of crawling in tubular environments, inspired by the movement of earthworms and the biological musculoskeletal systems in nature. A tensegrity structures-based robotic module with shape changeability actuated by only one linear actuator i…
Since the advent of flying machines, engineers have strived to develop aircraft that can fly as flexibly as birds. From the original traditional control surface to the controllable morphing wing design, they all aim to improve the flight performance of drones, including the load capacity, maneuverab
Pathological tremor is defined as a roughly sinusoidal movement and usually occurs in the upper limb impacting individuals activities of daily livings. Functional electrical stimulation (FES) is proposed as a potential alternative for cancelling the pathological tremor. However, the feasibility and