Related papers: An Efficiently Solvable Quadratic Program for Stab…
We present a novel method of optimal robust control through quadratic programs that offers tracking stability while subject to input and state-based constraints as well as safety-critical constraints for nonlinear dynamical robotic systems…
Quadratic Programs (QPs) are widely used in the control of walking robots, especially in Model Predictive Control (MPC) and Whole-Body Control (WBC). In both cases, the controller design requires the formulation of a QP and the selection of…
This paper presents a distributed inverse dynamics controller (DIDC) for quadruped robots that addresses the limitations of existing reactive controllers: simplified dynamical models, the inability to handle exact friction cone constraints,…
This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…
This work addresses the problem of kinematic trajectory planning for mobile manipulators with non-holonomic constraints, and holonomic operational-space tracking constraints. We obtain whole-body trajectories and time-varying kinematic…
Humanoid robots often face significant balance issues due to the motion of their heavy limbs. These challenges are particularly pronounced when attempting dynamic motion or operating in environments with irregular terrain. To address this…
Optimal control is a successful approach to generate motions for complex robots, in particular for legged locomotion. However, these techniques are often too slow to run in real time for model predictive control or one needs to drastically…
Flying robots such as the quadrotor could provide an efficient approach for medical treatment or sensor placing of wild animals. In these applications, continuously targeting the moving animal is a crucial requirement. Due to the…
For humans, fast, efficient walking over flat ground represents the vast majority of locomotion that an individual experiences on a daily basis, and for an effective, real-world humanoid robot the same will likely be the case. In this work,…
This study focuses on the locomotion capability improvement in a tendon-driven soft quadruped robot through an online adaptive learning approach. Leveraging the inverse kinematics model of the soft quadruped robot, we employ a central…
We present an approach for achieving a natural, efficient gait on bipedal robots using straightened legs and toe-off. Our algorithm avoids complex height planning by allowing a whole-body controller to determine the straightest possible leg…
Humans can balance very well during walking, even when perturbed. But it seems difficult to achieve robust walking for bipedal robots. Here we describe the simplest balance controller that leads to robust walking for a linear inverted…
Soft robots can execute tasks with safer interactions. However, control techniques that can effectively exploit the systems' capabilities are still missing. Differential dynamic programming (DDP) has emerged as a promising tool for…
This paper investigates the problem of efficient computation of physically consistent multi-contact behaviors. Recent work showed that under mild assumptions, the problem could be decomposed into simpler kinematic and centroidal dynamic…
Recently, the centroidal momentum dynamics has received substantial attention to plan dynamically consistent motions for robots with arms and legs in multi-contact scenarios. However, it is also non convex which renders any optimization…
In this work we present a trajectory Optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automatically discover different gaits and dynamic motions on a…
Traditional force-controlled bipedal walking utilizes highly bent knees, resulting in high torques as well as inefficient, and unnatural motions. Even with advanced planning of center of mass height trajectories, significant amounts of…
This extended abstract provides a short introduction on our recently developed perception-based controller for quadrupedal locomotion. Compared to our previous approach based on Visual Foothold Adaptation (VFA) and Model Predictive Control…
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…
This manuscript presents a model of compliant contacts for time-critical humanoid robot motion control. The proposed model considers the environment as a continuum of spring-damper systems, which allows us to compute the equivalent contact…