Related papers: Decentralized Control of a Hexapod Robot Using a W…

Locomotion is a prime example for adaptive behavior in animals and biological control principles have inspired control architectures for legged robots. While machine learning has been successfully applied to many tasks in recent years, Deep…

Artificial time delay controller was conceptualised for nonlinear systems to reduce dependency on precise system modelling unlike the conventional adaptive and robust control strategies. In this approach unknown dynamics is compensated by…

There is a growing interest in learning a velocity command tracking controller of quadruped robot using reinforcement learning due to its robustness and scalability. However, a single policy, trained end-to-end, usually shows a single gait…

This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…

A group of wheeled robots with nonholonomic constraints is considered to rendezvous at a common specified setpoint with a desired orientation while maintaining network connectivity and ensuring collision avoidance within the robots. Given…

Synchronization and desynchronization in networks is a highly studied topic in many electrical systems, but there is a distinct lack of research on this topic with respect to robotics. Creating an effective decentralized synchronization…

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…

For humanoids to be deployed in demanding situations, such as search and rescue, highly intelligent decision making and proficient sensorimotor skill is expected. A promising solution is to leverage human prowess by interconnecting robot…

We consider the problem of finding distributed controllers for large networks of mobile robots with interacting dynamics and sparsely available communications. Our approach is to learn local controllers that require only local information…

This paper addresses the design and development of an autonomous biped robot using master and worker combination of controllers. In addition, the bot is wirelessly controllable. The work presented here explains the walking pattern, system…

In this paper, we present a solution to the problem of coordinating multiple robots across a communication channel that experiences delays. The proposed approach leverages control barrier functions in order to ensure that the multi-robot…

For a robot to be both autonomous and collaborative requires the ability to adapt its movement to a variety of external stimuli, whether these come from humans or other robots. Typically, legged robots have oscillation periods explicitly…

This paper considers the distributed sampled-data control problem of a group of mobile robots connected via distance-induced proximity networks. A dwell time is assumed in order to avoid chattering in the neighbor relations that may be…

Bio-inspired walking hexapod robots are a relatively young branch in robotics in both state of the art and applications. Despite their high degree of flexibility and adaptability derived by their redundant design, the research field that…

In Evolutionary Robotics, evolutionary algorithms are used to co-optimize morphology and control. However, co-optimizing leads to different challenges: How do you optimize a controller for a body that often changes its number of inputs and…

The hybrid zero dynamics control concept for bipedal walking is extended to include a non-instantaneous double support phase. A symmetric robot that consists of five rigid body segments which are connected by four actuated revolute joints…

We present a self-organising, decentralised control method for material flows in networks. The concept applies to networks where time sharing mechanisms between conflicting flows in nodes are required and where a coordination of these local…

When a big and heavy robot moves, it exerts large forces on the environment and on its own structure, its angular momentum can varysubstantially, and even the robot's structure can deform if there is a mechanical weakness. Under these…

Learning how to walk is a sophisticated neurological task for most animals. In order to walk, the brain must synthesize multiple cortices, neural circuits, and diverse sensory inputs. Some animals, like humans, imitate surrounding…

We address the challenge of effectively controlling the locomotion of legged robots by incorporating precise frequency and phase characteristics, which is often ignored in locomotion policies that do not account for the periodic nature of…