Related papers: Balancing experiments on a torque-controlled human…

Hierarchical inverse dynamics based on cascades of quadratic programs have been proposed for the control of legged robots. They have important benefits but to the best of our knowledge have never been implemented on a torque controlled…

Torque control algorithms which consider robot dynamics and contact constraints are important for creating dynamic behaviors for humanoids. As computational power increases, algorithms tend to also increase in complexity. However, it is not…

Envisioned applications for humanoid robots call for the design of balancing and walking controllers. While promising results have been recently achieved, robust and reliable controllers are still a challenge for the control community…

Complex robotic systems require whole-body controllers to deal with contact interactions, handle closed kinematic chains, and track task-space control objectives. However, for many applications, safety-critical controllers are important to…

This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…

With the goal of moving towards implementation of increasingly dynamic behaviors on underactuated systems, this paper presents an optimization-based approach for solving full-body dynamics based controllers on underactuated bipedal robots.…

This paper proposes an MPC-based controller to efficiently execute multiple hierarchical tasks for underactuated and constrained robotic systems. Existing task-space controllers or whole-body controllers solve instantaneous optimization…

This note briefly introduces the computed torque control method for trajectory tracking. The method is applicable to fully actuated robots, i.e, those whose inverse dynamics can be solved for any feasible acceleration. This includes many…

Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…

This article propose a whole-body impedance coordinative control framework for a wheel-legged humanoid robot to achieve adaptability on complex terrains while maintaining robot upper body stability. The framework contains a bi-level control…

We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they…

Bipedal robots are essentially unstable because of their complex kinematics as well as high dimensional state space dynamics, hence control and generation of stable walking is a complex subject and still one of the active topics in the…

One of the challenges for the robotics community is to deploy robots which can reliably operate in real world scenarios together with humans. A crucial requirement for legged robots is the capability to properly balance on their feet,…

Inverse dynamics is used extensively in robotics and biomechanics applications. In manipulator and legged robots, it can form the basis of an effective nonlinear control strategy by providing a robot with both accurate positional tracking…

Balancing and reacting to strong and unexpected pushes is a critical requirement for humanoid robots. We recently designed a capture point based approach which interfaces with a momentum-based torque controller and we implemented and…

In task-based inverse dynamics control, reference accelerations used to follow a desired plan can be broken down into feedforward and feedback trajectories. The feedback term accounts for tracking errors that are caused from inaccurate…

We introduce a robust control architecture for the whole-body motion control of torque controlled robots with arms and legs. The method is based on the robust control of contact forces in order to track a planned Center of Mass trajectory.…

Jumping can be an effective way of locomotion to overcome small terrain gaps or obstacles. In this paper we propose two different approaches to perform jumps with a humanoid robot. Specifically, starting from a pre-defined CoM trajectory we…

Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…

In this paper, we devise methods for the multi- objective control of humanoid robots, a.k.a. prioritized whole- body controllers, that achieve efficiency and robustness in the algorithmic computations. We use a form of whole-body…