Related papers: Imprecise dynamic walking with time-projection con…
We present a novel control strategy for dynamic legged locomotion in complex scenarios, that considers information about the morphology of the terrain in contexts when only on-board mapping and computation are available. The strategy is…
In this work, we demonstrate robust walking in the bipedal robot Digit on uneven terrains by just learning a single linear policy. In particular, we propose a new control pipeline, wherein the high-level trajectory modulator shapes the…
Planning locomotion trajectories for legged microrobots is challenging because of their complex morphology, high frequency passive dynamics, and discontinuous contact interactions with their environment. Consequently, such research is often…
While current general-purpose 3D human models (e.g., SMPL-X) efficiently represent accurate human shape and pose, they lacks the ability to physically interact with the environment due to the kinematic nature. As a result, kinematic-based…
Developing robust locomotion for humanoid robots is a complex task due to the unstable nature of these robots and also to the unpredictability of the terrain. A robust locomotion planner is one of the fundamental components for generating…
Dynamic bipedal walking on discrete terrain, like stepping stones, is a challenging problem requiring feedback controllers to enforce safety-critical constraints. To enforce such constraints in real-world experiments, fast and accurate…
Despite extensive studies on motion stabilization of bipeds, they still suffer from the lack of disturbance coping capability on slippery surfaces. In this paper, a novel controller for stabilizing a bipedal motion in its sagittal plane is…
Legged robots have the potential to traverse complex terrain and access confined spaces beyond the reach of traditional platforms thanks to their ability to carefully select footholds and flexibly adapt their body posture while walking.…
Wearable technology for the automatic detection of gait events has recently gained growing interest, enabling advanced analyses that were previously limited to specialist centres and equipment (e.g., instrumented walkway). In this study, we…
In this paper, a hierarchical and robust framework for learning bipedal locomotion is presented and successfully implemented on the 3D biped robot Digit built by Agility Robotics. We propose a cascade-structure controller that combines the…
In this paper, we present an approach for generating a variety of whole-body motions for a humanoid robot. We extend the available Model Predictive Control (MPC) approaches for walking on flat terrain to plan for both vertical motion of the…
In trying to build humanoid robots that perform useful tasks in a world built for humans, we address the problem of autonomous locomotion. Humanoid robot planning and control algorithms for walking over rough terrain are becoming…
Bipedal robots demonstrate potential in navigating challenging terrains through dynamic ground contact. However, current frameworks often depend solely on proprioception or use manually designed visual pipelines, which are fragile in…
A whole-body torque control framework adapted for balancing and walking tasks is presented in this paper. In the proposed approach, centroidal momentum terms are excluded in favor of a hierarchy of high-priority position and orientation…
We present a computationally efficient method for online planning of bipedal walking trajectories with push recovery. In particular, the proposed methodology fits control architectures where the Divergent-Component-of-Motion (DCM) is…
This study explores the dynamics of asymmetrical bounding gaits in quadrupedal robots, focusing on the integration of torso pitching and hip motion to enhance speed and stability. Traditional control strategies often enforce a fixed…
Whole-body control (WBC) is a generic task-oriented control method for feedback control of loco-manipulation behaviors in humanoid robots. The combination of WBC and model-based walking controllers has been widely utilized in various…
Hip exoskeletons are known for their versatility in assisting users across varied scenarios. However, current assistive strategies often lack the flexibility to accommodate for individual walking patterns and adapt to diverse locomotion…
Complex robotic systems require whole-body controllers to deal with contact interactions, handle closed kinematic chains, and track task-space control objectives. However, for many applications, safety-critical controllers are important to…
We present a multi-query recovery policy for a hybrid system with goal limit cycle. The sample trajectories and the hybrid limit cycle of the dynamical system are stabilized using locally valid Time Varying LQR controller policies which…