Related papers: Dynamic Legged Manipulation of a Ball Through Mult…
We introduce a robust control architecture for the whole-body motion control of torque controlled robots with arms and legs. The method is based on the robust control of contact forces in order to track a planned Center of Mass trajectory.…
Mobile manipulators consist of a mobile platform equipped with one or more robot arms and are of interest for a wide array of challenging tasks because of their extended workspace and dexterity. Typically, mobile manipulators are deployed…
We present a model-predictive control (MPC) framework for legged robots that avoids the singularities associated with common three-parameter attitude representations like Euler angles during large-angle rotations. Our method parameterizes…
Many robot manipulation tasks require the robot to make and break contact with objects and surfaces. The dynamics of such changing-contact robot manipulation tasks are discontinuous when contact is made or broken, and continuous elsewhere.…
Dexterous multi-fingered hands can provide robots with the ability to flexibly perform a wide range of manipulation skills. However, many of the more complex behaviors are also notoriously difficult to control: Performing in-hand object…
Quadrupedal landing is a complex process involving large impacts, elaborate contact transitions, and is a crucial recovery behavior observed in many biological animals. This work presents a real-time, optimal landing controller that is free…
We provide an algorithm for adaptive legged locomotion via online learning and model predictive control. The algorithm is composed of two interacting modules: model predictive control (MPC) and online learning of residual dynamics. The…
This letter presents a physical human-robot interaction scenario in which a robot guides and performs the role of a teacher within a defined dance training framework. A combined cognitive and physical feedback of performance is proposed for…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
To generate reliable motion for legged robots through trajectory optimization, it is crucial to simultaneously compute the robot's path and contact sequence, as well as accurately consider the dynamics in the problem formulation. In this…
Adaptive control can address model uncertainty in control systems. However, it is preliminarily designed for tracking control. Recent advancements in the control of quadruped robots show that force control can effectively realize agile and…
High-precision manipulation has always been a developmental goal for aerial manipulators. This paper investigates the kinematic coordinate control issue in aerial manipulators. We propose a predictive kinematic coordinate control method,…
In this work we present a trajectory Optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automatically discover different gaits and dynamic motions on a…
Computing stabilizing and optimal control actions for legged locomotion in real time is difficult due to the nonlinear, hybrid, and high dimensional nature of these robots. The hybrid nature of the system introduces a combination of…
In this study, we implement a control method for stabilizing a ballbot that simultaneously follows a reference. A ballbot is a robot balancing on a spherical wheel where the single point of contact with the ground makes it omnidirectional…
This study presents a whole-body model predictive control (MPC) of robotic systems with rigid contacts, under a given contact sequence using online switching time optimization (STO). We treat robot dynamics with rigid contacts as a switched…
We present a model predictive controller (MPC) for multi-contact locomotion where predictive optimizations are realized by time-optimal path parameterization (TOPP). A key feature of this solution is that, contrary to existing planners…
Re-planning in legged locomotion is crucial to track the desired user velocity while adapting to the terrain and rejecting external disturbances. In this work, we propose and test in experiments a real-time Nonlinear Model Predictive…
To achieve highly dynamic jumps of legged robots, it is essential to control the rotational dynamics of the robot. In this paper, we aim to improve the jumping performance by proposing a unified model for planning highly dynamic jumps that…
Achieving both target accuracy and robustness in dynamic maneuvers with long flight phases, such as high or long jumps, has been a significant challenge for legged robots. To address this challenge, we propose a novel learning-based control…