Related papers: Non-Linear Trajectory Optimization for Large Step-…
Generation of robust trajectories for legged robots remains a challenging task due to the underlying nonlinear, hybrid and intrinsically unstable dynamics which needs to be stabilized through limited contact forces. Furthermore,…
The paper presents a planner to generate walking trajectories by using the centroidal dynamics and the full kinematics of a humanoid robot. The interaction between the robot and the walking surface is modeled explicitly via new conditions,…
Traditional force-controlled bipedal walking utilizes highly bent knees, resulting in high torques as well as inefficient, and unnatural motions. Even with advanced planning of center of mass height trajectories, significant amounts of…
One of the essential aspects of humanoid robot running is determining the limb-swinging trajectories. During the flight phases, where the ground reaction forces are not available for regulation, the limb swinging trajectories are…
High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to achieve high-dynamic and explosive jumping. This paper…
The general problem of planning feasible trajectories for multimodal robots is still an open challenge. This paper presents a whole-body trajectory optimisation approach that addresses this challenge by combining methods and tools developed…
This paper presents a Non-Linear Model Predictive Controller for humanoid robot locomotion with online step adjustment capabilities. The proposed controller considers the Centroidal Dynamics of the system to compute the desired contact…
While humans are highly capable of recovering from external disturbances and uncertainties that result in large tracking errors, humanoid robots have yet to reliably mimic this level of robustness. Essential to this is the ability to…
In this paper, we describe a planner capable of generating walking trajectories by using the centroidal dynamics and the full kinematics of a humanoid robot model. The interaction between the robot and the walking surface is modeled…
The importance of humanoid robots in today's world is undeniable, one of the most important features of humanoid robots is the ability to maneuver in environments such as stairs that other robots can not easily cross. A suitable algorithm…
Most animal and human locomotion behaviors for solving complex tasks involve dynamic motions and rich contact interaction. In fact, complex maneuvers need to consider dynamic movement and contact events at the same time. We present a…
Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility constraints to be included in a Single Rigid Body Dynamicsbased…
Whole-body optimizers have been successful at automatically computing complex dynamic locomotion behaviors. However they are often limited to offline planning as they are computationally too expensive to replan with a high frequency.…
The current state-of-the-art gradient-based optimisation frameworks are able to produce impressive dynamic manoeuvres such as linear and rotational jumps. However, these methods, which optimise over the full rigid-body dynamics of the…
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…
We present a method for humanoid robot walking on partial footholds such as small stepping stones and rocks with sharp surfaces. Our algorithm does not rely on prior knowledge of the foothold, but information about an expected foothold can…
Recently, the centroidal momentum dynamics has received substantial attention to plan dynamically consistent motions for robots with arms and legs in multi-contact scenarios. However, it is also non convex which renders any optimization…
When a big and heavy robot moves, it exerts large forces on the environment and on its own structure, its angular momentum can varysubstantially, and even the robot's structure can deform if there is a mechanical weakness. Under these…
Humanoid robots dynamically navigate an environment by interacting with it via contact wrenches exerted at intermittent contact poses. Therefore, it is important to consider dynamics when planning a contact sequence. Traditional contact…
As humanoid robots enter real-world environments, ensuring robust locomotion across diverse environments is crucial. This paper presents a computationally efficient hierarchical control framework for humanoid robot locomotion based on…