Related papers: Walking Stabilization Using Step Timing and Locati…
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 present a simple control framework for on-line push recovery with dynamic stepping properties. Due to relatively heavy legs in our robot, we need to take swing dynamics into account and thus use a linear model called 3LP…
To increase the speed of operation and reduce operator burden, humanoid robots must be able to function autonomously, even in complex, cluttered environments. For this to be possible, they must be able to quickly and efficiently compute…
Humanoid robots have the potential capability to perform a diverse range of manipulation tasks, but this is based on a robust and precise standing controller. Existing methods are either ill-suited to precisely control high-dimensional…
Humanoid robots dynamically navigate an environment by interacting with it via contact wrenches exerted at intermittent contact poses. Therefore, it is important to consider dynamics when planning a contact sequence. Traditional contact…
To reproduce natural standing-up motion, recent studies have emphasized the importance of coordination between the assisting robot and the human. However, many non-wearable assistive devices have struggled to replicate natural motion…
We present an integrated approach to locomotion and balancing of humanoid robots based on direct centroidal control. Our method uses a five-mass description of a humanoid. It generates whole-body motions from desired foot trajectories and…
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…
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,…
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…
One of the challenges for the robotics community is to deploy robots which can reliably operate in real world scenarios together with humans. A crucial requirement for legged robots is the capability to properly balance on their feet,…
Controller design for bipedal walking on dynamic rigid surfaces (DRSes), which are rigid surfaces moving in the inertial frame (e.g., ships and airplanes), remains largely uninvestigated. This paper introduces a hierarchical control…
Bipedal robots are essentially unstable because of their complex kinematics as well as high dimensional state space dynamics, hence control and generation of stable walking is a complex subject and still one of the active topics in the…
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…
Robot feet are crucial for maintaining dynamic stability and propelling the body during walking, especially on uneven terrains. Traditionally, robot feet were mostly designed as flat and stiff pieces of metal, which meets its limitations…
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…
Despite extensive studies on motion stabilization of bipeds, they still suffer from the lack of disturbance coping capability on slippery surfaces. In this paper, a novel controller for stabilizing a bipedal motion in its sagittal plane is…
We describe a whole-body dynamic walking controller implemented as a convex quadratic program. The controller solves an optimal control problem using an approximate value function derived from a simple walking model while respecting the…
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…
In this paper, we propose an efficient approach to generate dynamic and versatile humanoid walking with non-constant center of mass (COM) height. We exploit the benefits of using reduced order models (ROMs) and stepping control to generate…