2021年6月1日 · ANYmal is a quadrupedal robot driven by special compliant and precisely torque controllable actuators; the system is capable of dynamic running and high- mobile climbing [89]. Moreover, most of the quadruped robots have developed with electric actuators such as ANYmal, Spot, and Littledog for indoor applications. ...

本文将首先介绍 ETH 在 四足机器人 领域的标志性成果（分别发表在 Science Robotics 2020 和 2022），随后介绍强化学习在四足机器人领域的最新成果。. 续集： ETH 2020 — Learning Quadrupedal Locomotion over Challenging Terrain . 这篇工作的主要特点是仅利用了四足机器人的本体信息（proprioceptive feedback），使用强化 ...

2024年3月8日 · Research on legged robots has primarily focused on bipedal, quadrupedal, and hexapodal robots, with comparatively less attention given to monopodal and octopodal robots. The appropriate number of legs plays a crucial role in ensuring efficient movement and stable performance of the robot. [ 3 ]

ANYmal parkour: Learning agile navigation for quadrupedal robots. Science Robotics, 2024. 本文提出了一种多层级的框架，包括感知模块、导航模块以及运动模块，其中感知模块用于重建环境信息，导航模块则根据环境信息导航四足机器人的运动并驱动运动模块选择合适的运动能力 ...

本方法提出将quadrupedal robot足部与地面接触的模式（即每只脚什么时间与地面接触什么时间抬起）作为通过LLM连接人类语言命令和robot controller的桥梁，设计了一套LLM prompt和一个能够以foot contact pattern作为输入的policy实现了借助LLM强大理解能力通过人类语言操控 ...

2024年7月5日 · We apply the trained hierarchical controllers to the MAX robot, a quadrupedal robot developed in-house, to mimic animals, traverse complex obstacles and play in a designed challenging multi-agent ...

2024年4月21日 · A quadrupedal robot with morphological adaptive tuning and a posture transformation strategy was proposed. Morphological adaptation is reflected in the robot's ability to actively adjust its extended posture to adapt to complex environments, and in its passive adaptation to unsteady fall scenarios by moving in a dorsal downward posture. ...

2024年8月1日 · Dynamic jumping on high platforms and over gaps differentiates legged robots from wheeled counterparts. Compared to walking on rough terrains, dynamic locomotion on abrupt surfaces requires fusing proprioceptive and exteroceptive perception for explosive movements. In this paper, we propose SF-TIM (Simple Framework combining Terrain Imagination and Measurement), a single-policy method that ...

6 天之前 · The framework currently focuses on quadrupedal robots, but future research will expand its capabilities to a broader range of robotic forms and integrate automated assembly processes to further streamline the design-to-reality pipeline. “This is just the beginning,” said Jiaxun Liu, co-first author of the paper and a second-year Ph.D ...

3 天之前 · In order to improve the motion performance of quadruped crawling robots in continuous convex terrains, a fixed-time non-singular fast terminal sliding mode control (FxNFTSMC) method based on sliding surface adjustment is proposed. Firstly, the dynamic model of the quadruped crawling robot is constructed using the Lagrange method for control purposes. Secondly, the sliding surface is designed ...