Related papers: A Predictive Momentum-Based Whole-Body Torque Cont…
Step adjustment can improve the gait robustness of biped robots, however the adaptation of step timing is often neglected as it gives rise to non-convex problems when optimized over several footsteps. In this paper, we argue that it is not…
High-precision manipulation has always been a developmental goal for aerial manipulators. This paper investigates the kinematic coordinate control issue in aerial manipulators. We propose a predictive kinematic coordinate control method,…
We address the challenge of enabling bipedal robots to traverse rough terrain by developing probabilistically safe planning and control strategies that ensure dynamic feasibility and centroidal robustness under terrain uncertainty.…
Available possibilities to prevent a biped robot from falling down in the presence of severe disturbances are mainly Center of Pressure (CoP) modulation, step location and timing adjustment, and angular momentum regulation. In this paper,…
This paper proposes and validates an in situ calibration method to calibrate six axis force torque (F/T) sensors once they are mounted on the system. This procedure takes advantage of the knowledge of the model of the robot to generate the…
We model Human-Robot-Interaction (HRI) scenarios as linear dynamical systems and use Model Predictive Control (MPC) with mixed integer constraints to generate human-aware control policies. We motivate the approach by presenting two…
Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…
Modern Lightweight robots are constructed to be collaborative, which often results in a low structural stiffness compared to conventional rigid robots. Therefore, the controller must be able to handle the dynamic oscillatory effect mainly…
This paper proposes a novel orientation-aware model predictive control (MPC) for dynamic humanoid walking that can plan footstep locations online. Instead of a point-mass model, this work uses the augmented single rigid body model (aSRBM)…
Designing an exoskeleton to reduce the risk of low-back injury during lifting is challenging. Computational models of the human-robot system coupled with predictive movement simulations can help to simplify this design process. Here, we…
Humanoid robots often face significant balance issues due to the motion of their heavy limbs. These challenges are particularly pronounced when attempting dynamic motion or operating in environments with irregular terrain. To address this…
Keeping the stability can be counted as the essential ability of a humanoid robot to step out of the laboratory to work in our real environment. Since humanoid robots have similar kinematic to a human, humans expect these robots to be…
This paper contributes towards the benchmarking of control architectures for bipedal robot locomotion. It considers architectures that are based on the Divergent Component of Motion (DCM) and composed of three main layers: trajectory…
Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…
Despite major advancements in control design that are robust to unplanned disturbances, bipedal robots are still susceptible to falling over and struggle to negotiate rough terrains. By utilizing thrusters in our bipedal robot, we can…
The paper proposes a feed-forward control strategy for mobile robot control that accounts for a non-linear model of the vehicle with interaction between inputs and outputs. It is possible to include specific model uncertainties in the…
This paper presents an integrated model-based framework for generating and executing dynamic whole-body dance motions on humanoid robots. The framework operates in two stages: offline motion generation and online motion execution, both…
In this paper, we present an online adaptive robust control framework for underactuated brachiating robots traversing flexible cables. Since the dynamic model of a flexible body is unknown in practice, we propose an indirect adaptive…
Robots that physically interact with their surroundings, in order to accomplish some tasks or assist humans in their activities, require to exploit contact forces in a safe and proficient manner. Impedance control is considered as a…
Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…