Related papers: Partial Force Control of Constrained Floating-Base…
Nonlinear controllers for floating base systems in contact with the environment are often framed as quadratic programming (QP) optimization problems. Common drawbacks of such QP based controllers are: the control input often experiences…
This paper introduces a novel six-axis force/torque sensor tailored for compact and lightweight legged robots. Unlike traditional strain gauge-based sensors, the proposed non-contact design employs photocouplers, enhancing resistance to…
Legged robots have the potential to traverse complex terrain and access confined spaces beyond the reach of traditional platforms thanks to their ability to carefully select footholds and flexibly adapt their body posture while walking.…
Many robot manipulation tasks require the robot to make and break contact with objects and surfaces. The dynamics of such changing-contact robot manipulation tasks are discontinuous when contact is made or broken, and continuous elsewhere.…
In this paper, we present an efficient Dynamic Programing framework for optimal planning and control of legged robots. First we formulate this problem as an optimal control problem for switched systems. Then we propose a multi--level…
We present a reactive base control method that enables high performance mobile manipulation on-the-move in environments with static and dynamic obstacles. Performing manipulation tasks while the mobile base remains in motion can…
Automating dexterous, contact-rich manipulation tasks using rigid robots is a significant challenge in robotics. Rigid robots, defined by their actuation through position commands, face issues of excessive contact forces due to their…
Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these…
While motion planning of locomotion for legged robots has shown great success, motion planning for legged robots with dexterous multi-finger grasping is not mature yet. We present an efficient motion planning framework for simultaneously…
Robots usually establish contacts at rigid surfaces with near-zero relative velocities. Otherwise, impact-induced energy propagates in the robot's linkage and may cause irreversible damage to the hardware. Moreover, abrupt changes in…
Recent advancements in constrained kinematic control make it an attractive strategy for controlling robots with arbitrary geometry in challenging tasks. Most current works assume that the robot kinematic model is precise enough for the task…
Recent advancements have enabled human-robot collaboration through physical assistance and verbal guidance. However, limitations persist in coordinating robots' physical motions and speech in response to real-time changes in human behavior…
Legged robots are becoming popular not only in research, but also in industry, where they can demonstrate their superiority over wheeled machines in a variety of applications. Either when acting as mobile manipulators or just as all-terrain…
Intrinsically elastic robots surpass their rigid counterparts in a range of different characteristics. By temporarily storing potential energy and subsequently converting it to kinetic energy, elastic robots are capable of highly dynamic…
Much current study of legged locomotion has rightly focused on foot traction forces, including on granular media. Future legged millirobots will need to go through terrain, such as brush or other vegetation, where the body contact forces…
Legged robots are well-suited for broad exploration tasks in complex environments with yielding terrain. Understanding robotic foot-terrain interactions is critical for safe locomotion and walking efficiency for legged robots. This paper…
Force modulation of robotic manipulators has been extensively studied for several decades but is not yet commonly used in safety-critical applications due to a lack of accurate interaction contact modeling and weak performance guarantees -…
Interactive navigation is crucial in scenarios where proactively interacting with objects can yield shorter paths, thus significantly improving traversal efficiency. Existing methods primarily focus on using the robot body to relocate large…
An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy…
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…