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Anchoring the SLIP template: The effect of leg mass on running stability

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Exploration-based model learning with self-attention for risk-sensitive robot control

Sudong Lee

Model-based reinforcement learning for robot control offers the advantages of overcoming concerns on data collection and iterative processes for policy improvement in model-free methods. However, both methods use exploration strategy relying on heuristics ...

2023

On the interplay effect for moving targets treated with the CyberKnife static tracking system

François Bochud, Yihan Jia

Purpose: To assess the interplay effect amplitude between different planned MU distributions and respiratory patterns in the CyberKnife system when treating moving targets with static tracking technique. Methods: Small-and Large-Respiratory Motions (SRM an ...

2021

Learning agile and dynamic motor skills for legged robots

Marco Hutter

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 ...

2019

Dynamic Locomotion on Slippery Ground

Marco Hutter

Dynamic locomotion on unstructured and uneven terrain is a challenging task in legged robotics. Especially when it comes to slippery ground conditions, common state estimation and control algorithms suffer from the usual no-slip assumption. In fact, there ...

2019

Real-Time Dance Generation to Music for a Legged Robot

Marco Hutter

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 ...

2019

Support Surface Estimation for Legged Robots

Marco Hutter

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 ( ...

2019

Towards a Passive Adaptive Planar Foot with Ground Orientation and Contact Force Sensing for Legged Robots

Laura Isabel Paez Coy, Marco Hutter, Klajd Lika

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 ...

2019

Feedback MPC for Torque-Controlled Legged Robots

Marco Hutter

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 ...

2019

Effectiveness of a Robot-Mediated Strategy While Counteracting Multidirectional Slippages

Silvestro Micera

This study investigates the effectiveness of a robot-mediated strategy aimed at promoting balance recovery after multidirectional slippages. Six older adults were asked to manage anteroposterior and mediolateral slippages while donning an active pelvis ort ...

Cambridge University Press (CUP)2019

An Overview on Principles for Energy Efficient Robot Locomotion

Salman Faraji

Despite enhancements in the development of robotic systems, the energy economy of today's robots lags far behind that of biological systems. This is in particular critical for untethered legged robot locomotion. To elucidate the current stage of energy eff ...

FRONTIERS MEDIA SA2018