Robust Fall Recovery for Armless Bipedal-Wheeled Robots Via Force-Guided Learning
Fall recovery is critical for autonomous legged locomotion. Existing methods have demonstrated that some legged robots, such as humanoids and quadrupeds, are capable of fall recovery from diverse postures by utilizing arms or coordinating multi-legs to generate support forces. Without arms or other legs to provide supportive assistance, a bipedal-wheeled robot must rely solely on the actuation of its legs, making recovery particularly difficult. To address this, we introduce FTSR (Force-guided Teacher-student framework with Stage-wise Rewards). The force-guided method constructs an external auxiliary force during simulation training that correlates directly with the robot's real-time heig...
| Authors | Haidong Hou, Zhangguo Yu, Tao Han et al. |
|---|---|
| Primary category | cs.RO |
| Published | 12 June 2026 |
| Last updated at source | 12 June 2026 |
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