Related papers: Highly Dynamic Quadruped Locomotion via Whole-Body…
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…
Recent advances in quadrupedal locomotion have focused on improving stability and performance across diverse environments. However, existing methods often lack adequate safety analysis and struggle to adapt to varying payloads and complex…
Convex model predictive controls (MPCs) with a single rigid body model have demonstrated strong performance on real legged robots. However, convex MPCs are limited by their assumptions such as small rotation angle and pre-defined gait,…
Stable gait generation is a crucial problem for legged robot locomotion as this impacts other critical performance factors such as, e.g. mobility over an uneven terrain and power consumption. Gait generation stability results from the…
In the context of legged robots, adaptive behavior involves adaptive balancing and adaptive swing foot reflection. While adaptive balancing counteracts perturbations to the robot, adaptive swing foot reflection helps the robot to navigate…
Legged robots can traverse challenging terrain, use perception to plan their safe foothold positions, and navigate the environment. Such unique mobility capabilities make these platforms a perfect candidate for scenarios such as search and…
In this paper, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We model the hybrid nature of a generic multi-limbed mobile…
For achieving kinematically suitable configurations and highly dynamic task execution, an efficient way is to consider robot performance indices in the whole-body control (WBC) of robots. However, current WBC methods have not considered the…
Recent studies on quadruped robots have focused on either locomotion or mobile manipulation using a robotic arm. Legged robots can manipulate heavier and larger objects using non-prehensile manipulation primitives, such as planar pushing,…
In this paper, we propose a footstep planning strategy based on model predictive control (MPC) that enables robust regulation of body orientation against undesired body rotations by optimizing footstep placement. Model-based locomotion…
Simultaneous locomotion and manipulation enables robots to interact with their environment beyond the constraints of a fixed base. However, coordinating legged locomotion with arm manipulation, while considering safety and compliance during…
This paper proposes an online bipedal footstep planning strategy that combines model predictive control (MPC) and reinforcement learning (RL) to achieve agile and robust bipedal maneuvers. While MPC-based foot placement controllers have…
In this paper, previous works on the Model Predictive Control (MPC) and the Divergent Component of Motion (DCM) for bipedal walking control are extended. To this end, we employ a single MPC which uses a combination of Center of Pressure…
In this paper, we present a real-time whole-body planner for collision-free legged mobile manipulation. We enforce both self-collision and environment-collision avoidance as soft constraints within a Model Predictive Control (MPC) scheme…
We study the problem of mobile manipulation using legged robots equipped with an arm, namely legged loco-manipulation. The robot legs, while usually utilized for mobility, offer an opportunity to amplify the manipulation capabilities by…
Our paper proposes a model predictive controller as a single-task formulation that simultaneously optimizes wheel and torso motions. This online joint velocity and ground reaction force optimization integrates a kinodynamic model of a…
We present experimental results using a passive whole-body control approach for quadruped robots that achieves dynamic locomotion while compliantly balancing the robot's trunk. We formulate the motion tracking as a Quadratic Program (QP)…
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…
Autonomous mobile manipulation offers a dual advantage of mobility provided by a mobile platform and dexterity afforded by the manipulator. In this paper, we present a whole-body optimal control framework to jointly solve the problems of…
Real-time synthesis of legged locomotion maneuvers in challenging industrial settings is still an open problem, requiring simultaneous determination of footsteps locations several steps ahead while generating whole-body motions close to the…