Related papers: Towards thruster-assisted bipedal locomotion for e…
This study presents an analysis of experimental data from Harpy, a thruster-assisted bipedal robot developed at Northeastern University. The study examines data sets from trotting and jumping experiments to understand the fundamental…
Achieving stable bipedal walking on surfaces with unknown motion remains a challenging control problem due to the hybrid, time-varying, partially unknown dynamics of the robot and the difficulty of accurate state and surface motion…
Mobile robots are ubiquitous. Such vehicles benefit from well-designed and calibrated control algorithms ensuring their task execution under precise uncertainty bounds. Yet, in tasks involving humans in the loop, such as elderly or mobility…
Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. Although common practice in designing…
Bipedal robots adapt to the environment of the modern society due to the similarity of movement to humans, and therefore they are a good partner for humans. However, maintaining the stability of these robots during walking/running motion is…
Wheeled-legged robots have the potential for highly agile and versatile locomotion. The combination of legs and wheels might be a solution for any real-world application requiring rapid, and long-distance mobility skills on challenging…
In this paper, a hierarchical and robust framework for learning bipedal locomotion is presented and successfully implemented on the 3D biped robot Digit built by Agility Robotics. We propose a cascade-structure controller that combines the…
Hybrid systems, such as bipedal walkers, are challenging to control because of discontinuities in their nonlinear dynamics. Little can be predicted about the systems' evolution without modeling the guard conditions that govern transitions…
While quadruped robots usually have good stability and load capacity, bipedal robots offer a higher level of flexibility / adaptability to different tasks and environments. A multi-modal legged robot can take the best of both worlds. In…
To overcome the obstructions imposed by high-dimensional bipedal models, we embed a stable walking motion in an attractive low-dimensional surface of the system's state space. The process begins with trajectory optimization to design an…
We present a planning and control framework for physics-based manipulation under uncertainty. The key idea is to interleave robust open-loop execution with closed-loop control. We derive robustness metrics through contraction theory. We use…
This work presents a methodology to design trajectory tracking feedback control laws, which embed non-parametric statistical models, such as Gaussian Processes (GPs). The aim is to minimize unmodeled dynamics such as undesired slippages.…
Bipedal locomotion is a phenomenon that still eludes a fundamental and concise mathematical understanding. Conceptual models that capture some relevant aspects of the process exist but their full explanatory power is not yet exhausted. In…
Successfully achieving bipedal locomotion remains challenging due to real-world factors such as model uncertainty, random disturbances, and imperfect state estimation. In this work, we propose a novel metric for locomotive robustness -- the…
The hybrid zero dynamics control concept for bipedal walking is extended to include a non-instantaneous double support phase. A symmetric robot that consists of five rigid body segments which are connected by four actuated revolute joints…
Learning-based approaches have recently shown notable success in legged locomotion. However, these approaches often lack accountability, necessitating empirical tests to determine their effectiveness. In this work, we are interested in…
Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hybrid trajectory optimization method aimed at generating…
We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments cluttered with obstacles having arbitrary convex shapes. The proposed navigation approach relies on a hybrid feedback to guarantee global…
This MS thesis outlines my contributions to the closed loop control and system integration of two robotic platforms: 1) Aerobat, a flapping wing robot stabilized by air jets, and 2) Harpy, a bipedal robot equipped with dual thrusters. Both…
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)…