Related papers: Force-and-moment-based Model Predictive Control fo…
Performing highly agile dynamic motions, such as jumping or running on uneven stepping stones has remained a challenging problem in legged robot locomotion. This paper presents a framework that combines trajectory optimization and model…
Robotic tasks which involve uncertainty--due to variation in goal, environment configuration, or confidence in task model--may require human input to instruct or adapt the robot. In tasks with physical contact, several existing methods for…
Humanoid robot soccer presents several challenges, particularly in maintaining system stability during aggressive kicking motions while achieving precise ball trajectory control. Current solutions, whether traditional position-based control…
This study presents a theoretical method for planning and controlling agile bipedal locomotion based on robustly tracking a set of non-periodic keyframe states. Based on centroidal momentum dynamics, we formulate a hybrid phase-space…
Legged robots can traverse challenging terrain, use perception to plan their safe foothold positions, and navigate the environment. Such unique mobility capabilities make these platforms a perfect candidate for scenarios such as search and…
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…
Planning and execution of agile locomotion maneuvers have been a longstanding challenge in legged robotics. It requires to derive motion plans and local feedback policies in real-time to handle the nonholonomy of the kinetic momenta. To…
In this letter, we formulate a novel Markov Decision Process (MDP) for safe and data-efficient learning for humanoid locomotion aided by a dynamic balancing model. In our previous studies of biped locomotion, we relied on a low-dimensional…
A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…
For safe and effective operation of humanoid robots in human-populated environments, the problem of commanding a large number of Degrees of Freedom (DoF) while simultaneously considering dynamic obstacles and human proximity has still not…
The planning of whole-body motion and step time for bipedal locomotion is constructed as a model predictive control (MPC) problem, in which a sequence of optimization problems needs to be solved online. While directly solving these problems…
This paper presents a contact-implicit model predictive control (MPC) framework for the real-time discovery of multi-contact motions, without predefined contact mode sequences or foothold positions. This approach utilizes the…
Despite their remarkable advancement in locomotion and manipulation, humanoid robots remain challenged by a lack of synchronized loco-manipulation control, hindering their full dynamic potential. In this work, we introduce a versatile and…
Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…
The use of exoskeleton robots is increasing due to the rising number of musculoskeletal injuries. However, their effectiveness depends heavily on the design of control systems. Designing robust controllers is challenging because of…
Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical reality. This is due to continued progress in three key areas: a mathematical understanding of locomotion, the computational ability to encode this…
The paper presents a method to stabilize dynamic gait for a legged robot with embodied compliance. Our approach introduces a unified description for rigid and compliant bodies to approximate their deformation and a formulation for…
Quadrupedal wheeled-legged robots combine the advantages of legged and wheeled locomotion to achieve superior mobility, but executing dynamic jumps remains a significant challenge due to the additional degrees of freedom introduced by…
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…
Stable gait generation is a crucial problem for legged robot locomotion as this impacts other critical performance factors such as, e.g. mobility over an uneven terrain and power consumption. Gait generation stability results from the…