Multi-Modal Mobility Morphobot (M4) with appendage repurposing for locomotion plasticity enhancement
Robot designs can take many inspirations from nature, where there are many examples of
highly resilient and fault-tolerant locomotion strategies to navigate complex terrains by …
highly resilient and fault-tolerant locomotion strategies to navigate complex terrains by …
Advancements in humanoid robots: A comprehensive review and future prospects
This paper provides a comprehensive review of the current status, advancements, and future
prospects of humanoid robots, highlighting their significance in driving the evolution of next …
prospects of humanoid robots, highlighting their significance in driving the evolution of next …
Learning robust autonomous navigation and locomotion for wheeled-legged robots
Autonomous wheeled-legged robots have the potential to transform logistics systems,
improving operational efficiency and adaptability in urban environments. Navigating urban …
improving operational efficiency and adaptability in urban environments. Navigating urban …
Do robots outperform humans in human-centered domains?
R Riener, L Rabezzana, Y Zimmermann - Frontiers in Robotics and AI, 2023 - frontiersin.org
The incessant progress of robotic technology and rationalization of human manpower
induces high expectations in society, but also resentment and even fear. In this paper, we …
induces high expectations in society, but also resentment and even fear. In this paper, we …
Control strategy of stable walking for a hexapod wheel-legged robot
This paper provides a legged stable walking control strategy based on multi-sensor
information feedback about BIT-NAZA-II, a large load parallel hexapod wheel-legged robot …
information feedback about BIT-NAZA-II, a large load parallel hexapod wheel-legged robot …
Offline motion libraries and online MPC for advanced mobility skills
We describe an optimization-based framework to perform complex locomotion skills for
robots with legs and wheels. The generation of complex motions over a long-time horizon …
robots with legs and wheels. The generation of complex motions over a long-time horizon …
Towards hybrid gait obstacle avoidance for a six wheel-legged robot with payload transportation
This paper investigates a novel hybrid gait obstacle-avoidance control strategy based on a
perception system for the six wheel-legged robot (BIT-6NAZA) in uneven terrain. This robot …
perception system for the six wheel-legged robot (BIT-6NAZA) in uneven terrain. This robot …
Rolling in the deep–hybrid locomotion for wheeled-legged robots using online trajectory optimization
Wheeled-legged robots have the potential for highly agile and versatile locomotion. The
combination of legs and wheels might be a solution for any real-world application requiring …
combination of legs and wheels might be a solution for any real-world application requiring …
[HTML][HTML] Heap-the autonomous walking excavator
The demand and the potential for automation in the construction sector is unmatched,
particularly for increasing environmental sustainability, improving worker safety and …
particularly for increasing environmental sustainability, improving worker safety and …
Whole-body mpc and online gait sequence generation for wheeled-legged robots
M Bjelonic, R Grandia, O Harley… - 2021 IEEE/RSJ …, 2021 - ieeexplore.ieee.org
Our paper proposes a model predictive controller as a single-task formulation that
simultaneously optimizes wheel and torso motions. This online joint velocity and ground …
simultaneously optimizes wheel and torso motions. This online joint velocity and ground …