Related papers: Capture Steps: Robust Walking for Humanoid Robots
To reproduce natural standing-up motion, recent studies have emphasized the importance of coordination between the assisting robot and the human. However, many non-wearable assistive devices have struggled to replicate natural motion…
Bipeds have demonstrated high agility and mobility in unstructured environments such as sand. The yielding of such granular media brings significant sinkage and slip of the bipedal feet, leading to uncertainty and instability of walking…
In legged locomotion, the relationship between different gait behaviors and energy consumption must consider the full-body dynamics and the robot control as a whole, which cannot be captured by simple models. This work studies the robot…
Controlled execution of dynamic motions in quadrupedal robots, especially those with articulated soft bodies, presents a unique set of challenges that traditional methods struggle to address efficiently. In this study, we tackle these…
Developing robust locomotion for humanoid robots is a complex task due to the unstable nature of these robots and also to the unpredictability of the terrain. A robust locomotion planner is one of the fundamental components for generating…
Humanoid robots, designed to operate in human-centric environments, serve as a fundamental platform for a broad range of tasks. Although humanoid robots have been extensively studied for decades, a majority of existing humanoid robots still…
This paper presents a real-time gait driven training framework for humanoid robots. First, we introduce a novel gait planner that incorporates dynamics to design the desired joint trajectory. In the gait design process, the 3D robot model…
Dynamic bipedal walking on discrete terrain, like stepping stones, is a challenging problem requiring feedback controllers to enforce safety-critical constraints. To enforce such constraints in real-world experiments, fast and accurate…
Serially connected robots are promising candidates for performing tasks in confined spaces such as search-and-rescue in large-scale disasters. Such robots are typically limbless, and we hypothesize that the addition of limbs could improve…
Safety guarantees are valuable in the control of walking robots, as falling can be both dangerous and costly. Unfortunately, set-based tools for generating safety guarantees (such as sums-of-squares optimization) are typically restricted to…
The ability to track a general walking path with specific timing is crucial to the operational safety and reliability of bipedal robots for avoiding dynamic obstacles, such as pedestrians, in complex environments. This paper introduces an…
Achieving stable and robust perceptive locomotion for bipedal robots in unstructured outdoor environments remains a critical challenge due to complex terrain geometry and susceptibility to external disturbances. In this work, we propose a…
We propose a method to generate actuation plans for a reduced order, dynamic model of bipedal running. This method explicitly enforces robustness to ground uncertainty. The plan generated is not a fixed body trajectory that is aggressively…
Walking motion planning based on Divergent Component of Motion (DCM) and Linear Inverted Pendulum Model (LIPM) is one of the alternatives that could be implemented to generate online humanoid robot gait trajectories. This algorithm requires…
Most humanoid robots have highly complicated structure and design of robots that are very similar to human is extremely difficult. In this paper, modelling of a general and comprehensive algorithm for control of humanoid robots is presented…
This article propose a whole-body impedance coordinative control framework for a wheel-legged humanoid robot to achieve adaptability on complex terrains while maintaining robot upper body stability. The framework contains a bi-level control…
This paper studies bipedal locomotion as a nonlinear optimization problem based on continuous and discrete dynamics, by simultaneously optimizing the remaining step duration, the next step duration and the foot location to achieve…
Safe navigation in real-time is an essential task for humanoid robots in real-world deployment. Since humanoid robots are inherently underactuated thanks to unilateral ground contacts, a path is considered safe if it is obstacle-free and…
Hybrid systems theory has become a powerful approach for designing feedback controllers that achieve dynamically stable bipedal locomotion, both formally and in practice. This paper presents an analytical framework 1) to address…
Pedipulation leverages the feet of legged robots for mobile manipulation, eliminating the need for dedicated robotic arms. While previous works have showcased blind and task-specific pedipulation skills, they fail to account for static and…