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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…
In hybrid industrial environments, workers' comfort and positive perception of safety are essential requirements for successful acceptance and usage of collaborative robots. This paper proposes a novel human-robot interaction framework in…
Several recently released humanoid robots, inspired by the mechanical design of Cassie, employ actuator configurations in which the motors are displaced from the joints to reduce leg inertia. While studies accounting for the full kinematic…
This paper presents a system for enabling real-time synthesis of whole-body locomotion and manipulation policies for real-world legged robots. Motivated by recent advancements in robot simulation, we leverage the efficient parallelization…
The tractor-trailer robot consists of a drivable tractor and one or more non-drivable trailers connected via hitches. Compared to typical car-like robots, the addition of trailers provides greater transportation capability. However, this…
Real-time constraint satisfaction for robots can be quite challenging due to the high computational complexity that arises when accounting for the system dynamics and environmental interactions, often requiring simplification in modelling…
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…
In this work we evaluate Iterative Linear Quadratic Regulator(ILQR) for trajectory tracking of two different kinds of wheeled mobile robots namely Warthog (Fig. 1), an off-road holonomic robot with skid-steering and Polaris GEM e6 [1], a…
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…
Humanoid robots often face significant balance issues due to the motion of their heavy limbs. These challenges are particularly pronounced when attempting dynamic motion or operating in environments with irregular terrain. To address this…
Mobile manipulators have been employed in many applications that are traditionally performed by either multiple fixed-base robots or a large robotic system. This capability is enabled by the mobility of the mobile base. However, the mobile…
In this paper, we study a wheeled robot with a prismatic extension joint. This allows the robot to build up momentum to perform jumps over obstacles and to swing up to the upright position after the loss of balance. We propose a template…
We present a novel method of optimal robust control through quadratic programs that offers tracking stability while subject to input and state-based constraints as well as safety-critical constraints for nonlinear dynamical robotic systems…
We introduce a neural network approach for generating and customizing the trajectory of a robotic arm, that guarantees precision and repeatability. To highlight the potential of this novel method, we describe the design and implementation…
We present a method to find globally optimal topology and trajectory jointly for planar linkages. Planar linkage structures can generate complex end-effector trajectories using only a single rotational actuator, which is very useful in…
We present a control framework that enables humanoid robots to perform collaborative transportation tasks with a human partner. The framework supports both translational and rotational motions, which are fundamental to co-transport…
Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots allows for a unique blend of object manipulation through…
This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, based…
We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…
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…