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Legged robots pose one of the greatest challenges in robotics. Dynamic and agile maneuvers of animals cannot be imitated by existing methods that are crafted by humans. A compelling alternative is reinforcement learning, which requires minimal craftsmanshi ...
The development of robots that can dance has received considerable attention. However, they are often either limited to a pre-defined set of movements and music or demonstrate little variance when reacting to external stimuli, such as microphone or camera ...
The high agility of legged systems allows them to operate in rugged outdoor environments. In these situations, knowledge about the terrain geometry is key for foothold planning to enable safe locomotion. However, on penetrable or highly compliant terrain ( ...
This paper presents the design and experimental evaluations of an articulated robotic limb called Capler-Leg. The key element of Capler-Leg is its single-stage cable-pulley transmission combined with a high-gap radius motor. Our cable-pulley system is desi ...
The computational power of mobile robots is currently insufficient to achieve torque level whole-body Model Predictive Control (MPC) at the update rates required for complex dynamic systems such as legged robots. This problem is commonly circumvented by us ...
We show dynamic locomotion strategies for wheeled quadrupedal robots that combine the advantages of both walking and driving. The developed optimization framework tightly integrates the additional degrees of freedom introduced by the wheels. Our approach r ...
Adapting to the ground enables stable footholds in legged locomotion by exploiting the structure of the terrain. On that account, we present a passive adaptive planar foot with three rotational degrees of freedom that is lightweight and thus suited for hig ...
The dynamics of legged systems are characterized by under-actuation, instability, and contact state switching. We present a trajectory optimization method for generating physically consistent motions under these conditions. By integrating a custom solver f ...
Robotic technologies, whether they are remotely operated vehicles, autonomous agents, assistive devices, or novel control interfaces, offer many promising capabilities for deployment in real‐world environments. Postdisaster scenarios are a particularly rel ...
Transferring solutions found by trajectory optimization to robotic hardware remains a challenging task. When the optimization fully exploits the provided model to perform dynamic tasks, the presence of unmodeled dynamics renders the motion infeasible on th ...
