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We consider dynamic stair climbing with the HRP-4 humanoid robot as part of an Airbus manufacturing use-case demonstrator. We share experimental knowledge gathered so as to achieve this task, which HRP-4 had never been challenged to before.…
In this paper, we discuss an approximation strategy for solving the Linear Quadratic Tracking that is both forward and local in time. We exploit the known form of the value function along with a time reversal transformation that nicely…
This paper considers the optimal control for hybrid systems whose trajectories transition between distinct subsystems when state-dependent constraints are satisfied. Though this class of systems is useful while modeling a variety of…
This paper presents a control framework to teleoperate a quadruped robot's foot for operator-guided haptic exploration of the environment. Since one leg of a quadruped robot typically only has 3 actuated degrees of freedom (DoFs), the torso…
The ability of legged systems to traverse highly-constrained environments depends by and large on the performance of their motion and balance controllers. This paper presents a controller that excels in a scenario that most state-of-the-art…
The frequency-domain data of a multivariable system in different operating points is used to design a robust controller with respect to the measurement noise and multimodel uncertainty. The controller is fully parametrized in terms of…
This manuscript presents control of a high-DOF fully actuated lower-limb exoskeleton for paraplegic individuals. The key novelty is the ability for the user to walk without the use of crutches or other external means of stabilization. We…
Motion planning in high-dimensional space is a challenging task. In order to perform dexterous manipulation in an unstructured environment, a robot with many degrees of freedom is usually necessary, which also complicates its motion…
Approximate dynamic programming (ADP) faces challenges in dealing with constraints in control problems. Model predictive control (MPC) is, in comparison, well-known for its accommodation of constraints and stability guarantees, although its…
We propose a robust dynamic walking controller consisting of a dynamic locomotion planner, a reinforcement learning process for robustness, and a novel whole-body locomotion controller (WBLC). Previous approaches specify either the position…
We present a computational design system that assists users to model, optimize, and fabricate quad-robots with soft skins.Our system addresses the challenging task of predicting their physical behavior by fully integrating the multibody…
Active set method aims to find the correct active set of the optimal solution and it is a powerful method for solving strictly convex quadratic problem with bound constraints. To guarantee the finite step convergence, the existing active…
This work proposes a safety-critical local reactive controller that enables the robot to navigate in unknown and cluttered environments. In particular, the trajectory tracking task is formulated as a constrained polynomial optimization…
Recent progress in legged locomotion has rendered quadruped manipulators a promising solution for performing tasks that require both mobility and manipulation (loco-manipulation). In the real world, task specifications and/or environment…
The existence of multiple irregular obstacles in the environment introduces nonconvex constraints into the optimization for motion planning, which makes the optimal control problem hard to handle. One efficient approach to address this…
Adaptive structures are equipped with sensors and actuators to actively counteract external loads such as wind. This can significantly reduce resource consumption and emissions during the life cycle compared to conventional structures. A…
This paper contributes towards the development and comparison of Divergent-Component-of-Motion (DCM) based control architectures for humanoid robot locomotion. More precisely, we present and compare several DCM based implementations of a…
This paper presents a systematic approach for computing local solutions to motion planning problems in non-convex environments using numerical optimal control techniques. It extends the range of use of state-of-the-art numerical optimal…
We consider the problem of designing a stabilizing and optimal static controller with a pre-specified sparsity pattern. Since this problem is NP-hard in general, it is necessary to resort to approximation approaches. In this paper, we…
Legged robots are able to navigate complex terrains by continuously interacting with the environment through careful selection of contact sequences and timings. However, the combinatorial nature behind contact planning hinders the…