Related papers: Walking on Partial Footholds Including Line Contac…
Partial-assistance exoskeletons hold significant potential for gait rehabilitation by promoting active participation during (re)learning of normative walking patterns. Typically, the control of interaction torques in partial-assistance…
In trying to build humanoid robots that perform useful tasks in a world built for humans, we address the problem of autonomous locomotion. Humanoid robot planning and control algorithms for walking over rough terrain are becoming…
Although bipedal locomotion provides the ability to traverse unstructured environments, it requires careful planning and control to safely walk across without falling. This poses an integrated challenge for the robot to perceive, plan, and…
In this chapter we will highlight our experimental studies on natural human walking analysis and introduce a biologically inspired design for simple bipedal locomotion system of humanoid robots. Inspiration comes directly from human walking…
This paper presents three feedback controllers that achieve an asymptotically stable, periodic, and fast walking gait for a 3D (spatial) bipedal robot consisting of a torso, two legs, and passive (unactuated) point feet. The contact between…
Traversing environments with arbitrary obstacles poses significant challenges for bipedal robots. In some cases, whole body motions may be necessary to maneuver around an obstacle, but most existing footstep planners can only select from a…
Humanoid robots can, in principle, use their legs to go almost anywhere. Developing controllers capable of traversing diverse terrains, however, remains a considerable challenge. Classical controllers are hard to generalize broadly while…
The problem of navigating a bipedal robot to a desired destination in various environments is very important. However, it is very difficult to solve the navigation problem in real time because the computation time is very long due to the…
As bipedal robots become more and more popular in commercial and industrial settings, the ability to control them with a high degree of reliability is critical. To that end, this paper considers how to accurately estimate which feet are…
This paper presents a Non-Linear Model Predictive Controller for humanoid robot locomotion with online step adjustment capabilities. The proposed controller considers the Centroidal Dynamics of the system to compute the desired contact…
We present a planning framework designed for humanoid navigation over challenging terrain. This framework is designed to plan a traversable, smooth, and collision-free path using a 2.5D height map. The planner is comprised of two stages.…
Traditional one-step preview planning algorithms for bipedal locomotion struggle to generate viable gaits when walking across terrains with restricted footholds, such as stepping stones. To overcome such limitations, this paper introduces a…
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…
Robotic minimally invasive interventions typically require using more than two instruments. We thus developed a foot pedal interface which allows the user to control a robotic arm (simultaneously to working with the hands) with four degrees…
This paper presents a novel method for smaller-sized humanoid robots to self-calibrate their foot force sensors. The method consists of two steps: 1. The robot is commanded to move along planned whole-body trajectories in different double…
Bipedal humanoid robots must precisely coordinate balance, timing, and contact decisions when locomoting on constrained footholds such as stepping stones, beams, and planks -- even minor errors can lead to catastrophic failure. Classical…
In this paper, we propose a method for selecting the optimal footholds for legged systems. The goal of the proposed method is to find the best foothold for the swing leg on a local elevation map. We apply the Convolutional Neural Network to…
Most humanoid robots have highly complicated structure and design of robots that are very similar to human is extremely difficult. In this paper, modelling of a general and comprehensive algorithm for control of humanoid robots is presented…
Humans are able to negotiate downstep behaviors -- both planned and unplanned -- with remarkable agility and ease. The goal of this paper is to systematically study the translation of this human behavior to bipedal walking robots, even if…
To enable humanoid robots to work robustly in confined environments, multi-contact motion that makes contacts not only at extremities, such as hands and feet, but also at intermediate areas of the limbs, such as knees and elbows, is…