Related papers: Balancing and Walking Using Full Dynamics LQR Cont…
We present a new walking foot-placement controller based on 3LP, a 3D model of bipedal walking that is composed of three pendulums to simulate falling, swing and torso dynamics. Taking advantage of linear equations and closed-form solutions…
Robot interaction control is often limited to low dynamics or low flexibility, depending on whether an active or passive approach is chosen. In this work, we introduce a hybrid control scheme that combines the advantages of active and…
This paper proposes a technique for automatic gain tuning of a momentum based balancing controller for humanoid robots. The controller ensures the stabilization of the centroidal dynamics and the associated zero dynamics. Then, the…
This paper addresses the design and development of an autonomous biped robot using master and worker combination of controllers. In addition, the bot is wirelessly controllable. The work presented here explains the walking pattern, system…
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 presents a hierarchical control strategy based on hybrid systems theory, nonlinear control, and safety-critical systems to enable cooperative locomotion of robotic guide dogs and visually impaired people. We address…
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…
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…
There has been significant advancement in legged robot's agility where they can show impressive acrobatic maneuvers, such as parkour. These maneuvers rely heavily on posture manipulation. To expand the stability and locomotion plasticity,…
Human body motions can be captured as a high-dimensional continuous signal using motion sensor technologies. The resulting data can be surprisingly rich in information, even when captured from persons with limited mobility. In this work, we…
Achieving stable bipedal walking on surfaces with unknown motion remains a challenging control problem due to the hybrid, time-varying, partially unknown dynamics of the robot and the difficulty of accurate state and surface motion…
Humanoid robots are increasingly demanded to operate in interactive and human-surrounded environments while achieving sophisticated locomotion and manipulation tasks. To accomplish these tasks, roboticists unremittingly seek for advanced…
In this paper, we present an approach for generating a variety of whole-body motions for a humanoid robot. We extend the available Model Predictive Control (MPC) approaches for walking on flat terrain to plan for both vertical motion of 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 paper studies the learning-to-control problem under process and sensing uncertainties for dynamical systems. In our previous work, we developed a data-based generalization of the iterative linear quadratic regulator (iLQR) to design…
For decades, robotics researchers have pursued various tasks for multi-robot systems, from cooperative manipulation to search and rescue. These tasks are multi-robot extensions of classical robotic tasks and often optimized on dimensions…
Convex optimization is crucial in controlling legged robots, where stability and optimal control are vital. Many control problems can be formulated as convex optimization problems, with a convex cost function and constraints capturing…
Humanoid robots are expected to operate in human-centered environments where safe and natural physical interaction is essential. However, most recent reinforcement learning (RL) policies emphasize rigid tracking and suppress external…
Long-horizon whole-body humanoid teleoperation remains challenging due to accumulated global pose drift, particularly on full-sized humanoids. Although recent learning-based tracking methods enable agile and coordinated motions, they…
This paper focusses on the energy-efficient control of a cable-driven robot for tasks that only require precise positioning at few points in their motion, and where that accuracy can be obtained through contacts. This includes the majority…