Related papers: Frequency-Aware Model Predictive Control
Legged robots have shown remarkable advantages in navigating uneven terrain. However, realizing effective locomotion and manipulation tasks on quadruped robots is still challenging. In addition, object and terrain parameters are generally…
Inspired by the vertebrate branch of the animal kingdom, articulated soft robots are robotic systems embedding elastic elements into a classic rigid (skeleton-like) structure. Leveraging on their bodies elasticity, soft robots promise to…
This paper aims to develop a hierarchical nonlinear control algorithm, based on model predictive control (MPC), quadratic programming (QP), and virtual constraints, to generate and stabilize locomotion patterns in a real-time manner for…
Endowing humanoid robots with the ability to perform highly dynamic motions akin to human-level acrobatics has been a long-standing challenge. Successfully performing these maneuvers requires close consideration of the underlying physics in…
The dynamics of cellular pattern formation is crucial for understanding embryonic development and tissue morphogenesis. Recent studies have shown that human dermal fibroblasts cultured on liquid crystal elastomers can exhibit an increase in…
Today's heavy-duty mobile machines (HDMMs) face two transitions: from diesel-hydraulic actuation to clean electric systems driven by climate goals, and from human supervision toward greater autonomy. Diesel-hydraulic systems have long…
We are motivated by the real challenges presented in a human-robot system to develop new designs that are efficient at data level and with performance guarantees such as stability and optimality at systems level. Existing…
Underactuated robots are characterized by a larger number of degrees of freedom than actuators and if they are designed with a specific mass distribution, they can be controlled by means of differential flatness theory. This structural…
Trajectory following is one of the complicated control problems when its dynamics are nonlinear, stochastic and include a large number of parameters. The problem has significant difficulties including a large number of trials required for…
Thanks to recent advancements in accelerating non-linear model predictive control (NMPC), it is now feasible to deploy whole-body NMPC at real-time rates for humanoid robots. However, enforcing inequality constraints in real time for such…
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…
This communication presents a longitudinal model-free control approach for computing the wheel torque command to be applied on a vehicle. This setting enables us to overcome the problem of unknown vehicle parameters for generating a…
A Fractional adaptive PID (FPID) controller for a robot manipulator will be proposed. The PID parameters have been optimized by Genetic algorithm. The proposed controller is found robust by means of simulation in a tracking job. The…
We present the design of a low-cost wheeled mobile robot, and an analytical model for predicting its motion under the influence of motor torques and friction forces. Using our proposed model, we show how to analytically compute the gradient…
Accurate models are essential for design, performance prediction, control, and diagnostics in complex engineering systems. Physics-based models excel during the design phase but often become outdated during system deployment due to changing…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
When do locomotion controllers require reasoning about nonlinearities? In this work, we show that a whole-body model-predictive controller using a simple linear time-invariant approximation of the whole-body dynamics is able to execute…
In this paper, we investigate the synthesis of piecewise affine feedback controllers to address the problem of safe and robust controller design in robotics based on high-level controls specifications. The methodology is based on…
Unlike their biological cousins, the majority of existing quadrupedal robots are constructed with rigid chassis. This results in motion that is either beetle-like or distinctly robotic, lacking the natural fluidity characteristic of…
In this work, a novel method for planar task and motion planning based on hybrid modeling is proposed. By virtue of a discrete variable which models local constraint satisfaction and enables local feasibility analysis, the proposed control…