Related papers: Stabilization of Bipedal Robot Motion based on Tot…
Linear Model Predictive Control (MPC) has been successfully used for generating feasible walking motions for humanoid robots. However, the effect of uncertainties on constraints satisfaction has only been studied using Robust MPC (RMPC)…
Achieving stability and robustness is the primary goal of biped locomotion control. Recently, deep reinforce learning (DRL) has attracted great attention as a general methodology for constructing biped control policies and demonstrated…
In this paper, a simple trajectory generation method for biped walking is proposed. The dynamic model of the five link bipedal robot is first reduced using several biologically inspired assumptions. A sinusoidal curve is then imposed to the…
Humanoid robots may require a degree of compliance at the joint level for improving efficiency, shock tolerance, and safe interaction with humans. The presence of joint elasticity, however, complexifies the design of balancing and walking…
Animals locomote robustly and agile, albeit significant sensorimotor delays of their nervous system. The sensorimotor control of legged robots is implemented with much higher frequencies-often in the kilohertz range-and sensor and actuator…
Quadruped robots are designed to achieve agile and robust locomotion by drawing inspiration from legged animals. However, most existing control methods for quadruped robots lack a key capacity observed in animals: the ability to exhibit…
One of the challenges for the robotics community is to deploy robots which can reliably operate in real world scenarios together with humans. A crucial requirement for legged robots is the capability to properly balance on their feet,…
We present an integrated approach to locomotion and balancing of humanoid robots based on direct centroidal control. Our method uses a five-mass description of a humanoid. It generates whole-body motions from desired foot trajectories and…
Safety guarantees are valuable in the control of walking robots, as falling can be both dangerous and costly. Unfortunately, set-based tools for generating safety guarantees (such as sums-of-squares optimization) are typically restricted to…
This paper presents a control methodology for achieving orbital stabilization with simultaneous time synchronization of periodic trajectories in underactuated robotic systems. The proposed approach extends the classical transverse…
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…
Legged locomotion in humans is governed by natural dynamics of the human body and neural control. One mechanism that is assumed to contribute to the high efficiency of human walking is the impulsive ankle push-off, which potentially powers…
This paper studies bipedal locomotion as a nonlinear optimization problem based on continuous and discrete dynamics, by simultaneously optimizing the remaining step duration, the next step duration and the foot location to achieve…
In this paper, we present a novel control framework to achieve robust push recovery on bipedal robots while locomoting. The key contribution is the unification of hybrid system models of locomotion with a reduced-order model predictive…
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…
A hopping leg, no matter in legged animals or humans, usually behaves like a spring during the periodic hopping. Hopping like a spring is efficient and without the requirement of complicated control algorithms. Position and force control…
Performing highly agile dynamic motions, such as jumping or running on uneven stepping stones has remained a challenging problem in legged robot locomotion. This paper presents a framework that combines trajectory optimization and model…
Although recent years have seen significant progress of humanoid robots in walking and running, the frequent foot strikes with ground during these locomotion gaits inevitably generate high instantaneous impact forces, which leads to…
As bipedal robots become more and more popular in commercial and industrial settings, the ability to control them with a high degree of reliability is critical. To that end, this paper considers how to accurately estimate which feet are…
Similarly to humans, humanoid robots require posture control and balance to walk and interact with the environment. In this work posture control in perturbed conditions is evaluated as a performance test for humanoid control. A specific…