Related papers: Walking Control Based on Step Timing Adaptation
In this work we present a trajectory Optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automatically discover different gaits and dynamic motions on a…
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…
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 a multi-contact walking pattern generator based on preview-control of the 3D acceleration of the center of mass (COM). A key point in the design of our algorithm is the calculation of contact-stability constraints. Thanks to a…
This paper describes a topological approach to generating families of open- and closed-loop walking gaits for underactuated 2D and 3D biped walkers subject to configuration inequality constraints, physical holonomic constraints…
Reactive stepping and push recovery for biped robots is often restricted to flat terrains because of the difficulty in computing capture regions for nonlinear dynamic models. In this paper, we address this limitation by using reinforcement…
This study presents a theoretical method for planning and controlling agile bipedal locomotion based on robustly tracking a set of non-periodic keyframe states. Based on centroidal momentum dynamics, we formulate a hybrid phase-space…
We introduce a real-time, constrained, nonlinear Model Predictive Control for the motion planning of legged robots. The proposed approach uses a constrained optimal control algorithm known as SLQ. We improve the efficiency of this algorithm…
Learned locomotion policies can rapidly adapt to diverse environments similar to those experienced during training but lack a mechanism for fast tuning when they fail in an out-of-distribution test environment. This necessitates a slow and…
Legged robot research is presently focused on bipedal or quadrupedal robots, despite capabilities to build robots with many more legs to potentially improve locomotion performance. This imbalance is not necessarily due to hardware…
In this work, we demonstrate robust walking in the bipedal robot Digit on uneven terrains by just learning a single linear policy. In particular, we propose a new control pipeline, wherein the high-level trajectory modulator shapes the…
The ability to generate robust walking gaits on bipedal robots is key to their successful realization on hardware. To this end, this work extends the method of Hybrid Zero Dynamics (HZD) -- which traditionally only accounts for locomotive…
An external magnetic field can be used to remotely control small-scaled robots, making them promising candidates for diverse biomedical and engineering applications. We showed that our magnetically actuated millirobot is highly agile and…
The hybrid zero dynamics (HZD) approach has become a powerful tool for the gait planning and control of bipedal robots. This paper aims to extend the HZD methods to address walking, ambling and trotting behaviors on a quadrupedal robot. We…
The complex dynamics of agile robotic legged locomotion requires motion planning to intelligently adjust footstep locations. Often, bipedal footstep and motion planning use mathematically simple models such as the linear inverted pendulum,…
Humanoid robots are envisioned to adapt demonstrated motions to diverse real-world conditions while accurately preserving motion patterns. Existing motion prior approaches enable well adaptability with a few motions but often sacrifice…
In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to impact emerging robotics applications from logistics, to agriculture, to home assistance. The goal of this survey is to cover the recent progress toward…
Inspired by animals that co-adapt their brain and body to interact with the environment, we present a tendon-driven and over-actuated (i.e., n joint, n+1 actuators) bipedal robot that (i) exploits its backdrivable mechanical properties to…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
In this letter, we formulate a novel Markov Decision Process (MDP) for safe and data-efficient learning for humanoid locomotion aided by a dynamic balancing model. In our previous studies of biped locomotion, we relied on a low-dimensional…