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Inverted pendulums constitute one of the popular systems for benchmarking control algorithms. Several methods have been proposed for the control of this system, the majority of which rely on the availability of a mathematical model.…
The Angular-Momentum Linear Inverted Pendulum (ALIP) model is a promising motion planner for bipedal robots. However, it relies on two assumptions: (1) the robot has point-contact feet or passive ankles, and (2) the angular momentum around…
In this paper, we present an energy-conservation based control architecture for stable dynamic motion in quadruped robots. We model the robot as a Spring-loaded Inverted Pendulum (SLIP), a model well-suited to represent the bouncing motion…
Legged locomotion shows promise for running in complex, unstructured environments. Designing such legged robots requires considering heterogeneous, multi-domain constraints and variables, from mechanical hardware and geometry choices to…
Due to the complexity and inconstancy of the space environment, accurate mathematical models for spacecraft rendezvous are difficult to obtain, which consequently complicates the control tasks. In this paper, a linearized time-variant plant…
Non-prehensile planar manipulation, including pushing and press-and-slide, is critical for diverse robotic tasks, but notoriously challenging due to hybrid contact mechanics, under-actuation, and asymmetric friction limits that…
Force modulation of robotic manipulators has been extensively studied for several decades. However, it is not yet commonly used in safety-critical applications due to a lack of accurate interaction contact modeling and weak performance…
Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…
Soft robots have drawn significant attention recently for their ability to achieve rich shapes when interacting with complex environments. However, their elasticity and flexibility compared to rigid robots also pose significant challenges…
In this paper, 3D humanoid walking is decoupled into periodic and transitional motion, each of which is decoupled into planar walking in the sagittal and lateral plane. Reduced order models (ROMs), i.e. actuated Spring-loaded Inverted…
The variable-height inverted pendulum (VHIP) model enables a new balancing strategy by height variations of the center of mass, in addition to the well-known ankle strategy. We propose a biped stabilizer based on linear feedback of the VHIP…
By the recent spread of machine learning in the robotics field, a humanoid that can act, perceive, and learn in the real world through contact with the environment needs to be developed. In this study, as one of the choices, we propose a…
This paper develops a comparative framework for the design of actuated inertial appendages for planar, aerial reorientation. We define the Inertial Reorientation template, the simplest model of this behavior, and leverage its linear…
Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…
As robots venture into the real world, they are subject to unmodeled dynamics and disturbances. Traditional model-based control approaches have been proven successful in relatively static and known operating environments. However, when an…
Traditional linear control strategies have been extensively researched and utilized in many robotic and industrial applications and yet they do not respond to the total dynamics of the systems. To avoid tedious calculations for nonlinear…
This work presents an extended framework for learning-based bipedal locomotion that incorporates a heuristic step-planning strategy guided by desired torso velocity tracking. The framework enables precise interaction between a humanoid…
To reliably model real robot characteristics, interval linear systems of equations allow to describe families of problems that consider sets of values. This allows to easily account for typical complexities such as sets of joint states and…
Quasi-static models of robotic motion with frictional contact provide a computationally efficient framework for analysis and have been widely used for planning and control of non-prehensile manipulation. In this work, we present a novel…
Parallel kinematic manipulators (PKM) are characterized by closed kinematic loops, due to the parallel arrangement of limbs but also due to the existence of kinematic loops within the limbs. Moreover, many PKM are built with limbs…