Related papers: Safe Adaptive Switching among Dynamical Movement P…
We present a modular framework for solving a motion planning problem among a group of robots. The proposed framework utilizes a finite set of low level motion primitives to generate motions in a gridded workspace. The constraints on…
Functional autonomous systems often realize complex tasks by utilizing state machines comprised of discrete primitive behaviors and transitions between these behaviors. This architecture has been widely studied in the context of…
Biological systems exhibit a continuous stream of movements, consisting of sequential segments, that allow them to perform complex tasks in a creative and versatile fashion. This observation has led researchers towards identifying…
The functional demands of robotic systems often require completing various tasks or behaviors under the effect of disturbances or uncertain environments. Of increasing interest is the autonomy for dynamic robots, such as multirotors, motor…
This paper presents a modular approach to motion planning with provable stability guarantees for robots that move through changing environments via periodic locomotion behaviors. We focus on dynamic walkers as a paradigm for such systems,…
Biological systems, including human beings, have the innate ability to perform complex tasks in versatile and agile manner. Researchers in sensorimotor control have tried to understand and formally define this innate property. The idea,…
Biped robots are inherently unstable because of their complex kinematics as well as dynamics. Despite the many research efforts in developing biped locomotion, the performance of biped locomotion is still far from the expectations. This…
In this paper, we consider the problem of adapting a dynamically walking bipedal robot to follow a leading co-worker while engaging in tasks that require physical interaction. Our approach relies on switching among a family of Dynamic…
In this paper we address the problem of robot movement adaptation under various environmental constraints interactively. Motion primitives are generally adopted to generate target motion from demonstrations. However, their generalization…
Stable bipedal walking is a key prerequisite for humanoid robots to reach their potential of being versatile helpers in our everyday environments. Bipedal walking is, however, a complex motion that requires the coordination of many degrees…
The concept of dynamical movement primitives (DMPs) has become popular for modeling of motion, commonly applied to robots. This paper presents a framework that allows a robot operator to adjust DMPs in an intuitive way. Given a generated…
In order for a humanoid robot to perform loco-manipulation such as moving an object while walking, it is necessary to account for sustained or alternating external forces other than ground-feet reaction, resulting from humanoid-object…
Many robot manipulation tasks require the robot to make and break contact with objects and surfaces. The dynamics of such changing-contact robot manipulation tasks are discontinuous when contact is made or broken, and continuous elsewhere.…
We describe a framework for changing-contact robot manipulation tasks that require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a…
In this paper we provide a method to generate a continuum of limit cycles using a single precomputed exponentially stable limit cycle designed within the Hybrid Zero Dynamics framework. Guarantees for existence and stability of these limit…
In this paper, we examine the problem of push recovery for bipedal robot locomotion and present a reactive decision-making and robust planning framework for locomotion resilient to external perturbations. Rejecting perturbations is an…
The objective of this work is to augment the basic abilities of a robot by learning to use sensorimotor primitives to solve complex long-horizon manipulation problems. This requires flexible generative planning that can combine primitive…
Human-robot collaboration is on the rise. Robots need to increasingly improve the efficiency and smoothness with which they assist humans by properly anticipating a human's intention. To do so, prediction models need to increase their…
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…
Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of locomotion, but traversing unfavorable environments may require…