Related papers: Fast Trajectory Optimization for Legged Robots usi…
Safe robot motion generation is critical for practical applications from manufacturing to homes. In this work, we proposed a stochastic optimization-based motion generation method to generate collision-free and time-optimal motion for the…
Realizing bipedal locomotion on humanoid robots with point feet is especially challenging due to their highly underactuated nature, high degrees of freedom, and hybrid dynamics resulting from impacts. With the goal of addressing this…
Legged robots need to be capable of walking on diverse terrain conditions. In this paper, we present a novel reinforcement learning framework for learning locomotion on non-rigid dynamic terrains. Specifically, our framework can generate…
Legged manipulators, such as quadrupeds equipped with robotic arms, require motion planning techniques that account for their complex kinematic constraints in order to perform manipulation tasks both safely and effectively. However,…
Long-term human motion prediction (LHMP) is important for the safe and efficient operation of autonomous robots and vehicles in environments shared with humans. Accurate predictions are important for applications including motion planning,…
This paper systematically decomposes a quadrupedal robot into bipeds to rapidly generate walking gaits and then recomposes these gaits to obtain quadrupedal locomotion. We begin by decomposing the full-order, nonlinear and hybrid dynamics…
Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot…
Limitations in actuation, sensing, and computation have forced small legged robots to rely on carefully tuned, mechanically mediated leg trajectories for effective locomotion. Recent advances in manufacturing, however, have enabled the…
We present a novel convex formulation that weakly couples the Material Point Method (MPM) with rigid body dynamics through frictional contact, optimized for efficient GPU parallelization. Our approach features an asynchronous time-splitting…
Equipping quadruped robots with manipulators provides unique loco-manipulation capabilities, enabling diverse practical applications. This integration creates a more complex system that has increased difficulties in modeling and control.…
Precise trajectory tracking for legged robots can be challenging due to their high degrees of freedom, unmodeled nonlinear dynamics, or random disturbances from the environment. A commonly adopted solution to overcome these challenges is to…
State-of-the-art approaches to legged locomotion are widely dependent on the use of models like the linear inverted pendulum (LIP) and the spring-loaded inverted pendulum (SLIP), popular because their simplicity enables a wide array of…
Trajectory optimization (TO) is one of the most powerful tools for generating feasible motions for humanoid robots. However, including uncertainties and stochasticity in the TO problem to generate robust motions can easily lead to…
This paper presents a novel approach to enhance Model Predictive Control (MPC) for legged robots through Distributed Optimization. Our method focuses on decomposing the robot dynamics into smaller, parallelizable subsystems, and utilizing…
Quadruped robots are often designed with rigid feet to simplify control and maintain stable contact during locomotion. While this approach is straightforward, it limits the ability of the legs to absorb impact forces and reuse stored…
Dynamic Movement Primitives (DMP) are an established and efficient method for encoding robotic tasks that require adaptation based on reference motions. Typically, the nominal trajectory is obtained through Programming by Demonstration…
Designing trajectories for manipulation through contact is challenging as it requires reasoning of object \& robot trajectories as well as complex contact sequences simultaneously. In this paper, we present a novel framework for…
In this paper, we present a learning-based approach that allows a robot to quickly follow a reference path defined in joint space without exceeding limits on the position, velocity, acceleration and jerk of each robot joint. Contrary to…
While quadruped robots usually have good stability and load capacity, bipedal robots offer a higher level of flexibility / adaptability to different tasks and environments. A multi-modal legged robot can take the best of both worlds. In…
This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…