For the locomotion control of a legged robot, both model predictive (MPC) and reinforcement learning (RL) demonstrate powerful capabilities. MPC transfers high-level task to lower-level joint based on understanding robot environment, model-free RL learns how work through trial error, has ability evolve historical data. In this work, we proposed novel framework integrate advantages RL, learned p...

This paper outlines the design and operation of a teleoperated quadrupedal robot enhanced with manipulator arm gripper. Using mobile quadruped platform Laikago, ViperX 300 wearable inertia based motion capture system, low-cost was assembled capable hybrid control to allow seamless intuitive human interface. Vision for user is provided through 3D camera mounted at front stereo on end-effector. T...

Legged robots can, in principle, traverse a large variety of obstacles and terrains. In this paper, we describe a successful application of reinforcement learning algorithm to the problem of negotiating obstacles with a quadruped robot. Our algorithm is based on a two-level hierarchical decomposition of the task, in which the high-level controller selects the sequence of foot-placement position...

Robot joint motors have the characteristics of high torque density, low fluctuation, short-term high-overload, and light weight. Conventional design methods only focus on overload capacity, without precisely analyzing stator-rotor parameters effect magnetic saturation load fluctuation. Combining with frozen permeability technology, effects structural such as tooth width, slot opening, permanent...

The leg structure with high dynamic stability can make the bionic biped robot have inherent conditions to perform elastic and highly motion. Compared quadruped robot, of is more complex has degrees freedom. This also complicates kinematic modeling. In this paper, kinematics model a established. configuration series parallel hybrid mechanism five active joints six passive joints. spring mass tha...

Di era sekarang ini, robot merupakan sebuah kemajuan teknologi yang sudah tidak asing lagi. Selain itu, banyak pengaplikasian dalam kehidupan sehari-hari untuk memudahkan pekerjaan manusia. Contoh aplikasi tersebut diantaranya bidang pendidikan.
 Robot memiliki macam dan jenis, berkaki empat. Seperti namanya, ini kaki dengan jumlah empat sebagai penggerak dari jenis ini. kemampuan melewati...

Creating gaits for legged robots is an important task to enable robots to access rugged terrain, yet designing such gaits by hand is a challenging and time-consuming process. In this paper we investigate various algorithms for automating the creation of quadruped gaits. Because many robots do not have accurate simulators, we test gait-learning algorithms entirely on a physical robot. We compare...

In this paper, optimal cyclic reference trajectories are designed for three gaits of a quadruped robot, the curvet, the amble, and the trot, taking into account the actuators characteristics. The gaits are composed of stance phases and instantaneous double supports. The principle of virtual leg is used to obtain simpler dynamic model describing the motion of the quadruped. The impact phases are...

In soft robotics, a recent challenge is to decrease the number of rigid components used tocreate entirely robots. A common component in robots encoder, which should be replaced with counterpart if possible. this work, we de-sign and manufacture sensor, embedded into C-shaped leg soft, legged, miniature robot. Our main goal show that can embed sensor receive contact feedback from our quadruped. ...