Related papers: An Optimization Based Control Framework for Balanc…
In this paper we exploit some interesting properties of a class of bipedal robots which have an inertial disc. One of this properties is the ability to control every position and speed except for the disc position. The proposed control is…
Using lower-limbs exoskeletons provides potential advantages in terms of productivity and safety associated with reduced stress. However, complex issues in human-robot interaction are still open, such as the physiological effects of…
This paper presents a distributed inverse dynamics controller (DIDC) for quadruped robots that addresses the limitations of existing reactive controllers: simplified dynamical models, the inability to handle exact friction cone constraints,…
A hierarchical control architecture is presented for energy-efficient control of legged robots subject to variety of linear/nonlinear inequality constraints such as Coulomb friction cones, switching unilateral contacts, actuator saturation…
Wearable devices like exoskeletons are designed to reduce excessive loads on specific joints of the body. Specifically, single- or two-degrees-of-freedom (DOF) upper-body industrial exoskeletons typically focus on compensating for the…
We present a novel method for optimizing the posture of kinematically redundant torque-controlled robots to improve robustness during impacts. A rigid impact model is used as the basis for a configuration-dependent metric that quantifies…
Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These techniques are commonly seen in nature, such as Chukar birds…
The ability to realize nonlinear controllers with formal guarantees on dynamic robotic systems has the potential to enable more complex robotic behaviors -- yet, realizing these controllers is often practically challenging. To address this…
Reducing the complexity of higher order problems can enable solving them in analytical ways. In this paper, we propose an analytic whole body motion generator for humanoid robots. Our approach targets inexpensive platforms that possess…
Global position control for underactuated bipedal walking is a challenging problem due to the lack of actuation on the feet of the robots. In this paper, we apply the Hybrid-Linear Inverted Pendulum (H-LIP) based stepping on 3D…
Serially connected robots are promising candidates for performing tasks in confined spaces such as search-and-rescue in large-scale disasters. Such robots are typically limbless, and we hypothesize that the addition of limbs could improve…
Model Predictive Control (MPC) approaches are widely used in robotics, since they guarantee feasibility and allow the computation of updated trajectories while the robot is moving. They generally require heuristic references for the…
Stationary balance control is challenging for single-track two-wheeled (STTW) robots due to the lack of elegant balancing mechanisms and the conflict between the limited attraction domain and external disturbances. To address the absence of…
Reduced-order template models are widely used to control high degree-of-freedom legged robots, but existing methods for template-based whole-body control rely heavily on heuristics and often suffer from robustness issues. In this letter, we…
Cost functions have the potential to provide compact and understandable generalizations of motion. The goal of Inverse Optimal Control (IOC) is to analyze an observed behavior which is assumed to be optimal with respect to an unknown cost…
Robots operating in human environments need various skills, like slow and fast walking, turning, side-stepping, and many more. However, building robot controllers that can exhibit such a large range of behaviors is a challenging problem…
We present experimental results using a passive whole-body control approach for quadruped robots that achieves dynamic locomotion while compliantly balancing the robot's trunk. We formulate the motion tracking as a Quadratic Program (QP)…
This paper presents a novel approach that combines the advantages of both model-based and learning-based frameworks to achieve robust locomotion. The residual modules are integrated with each corresponding part of the model-based framework,…
This note briefly introduces the computed torque control method for trajectory tracking. The method is applicable to fully actuated robots, i.e, those whose inverse dynamics can be solved for any feasible acceleration. This includes many…
This paper proposes a novel framework for humanoid robots to execute inspection tasks with high efficiency and millimeter-level precision. The approach combines hierarchical planning, time-optimal standing position generation, and…