Related papers: Zero Dynamics, Pendulum Models, and Angular Moment…
State-of-the-art approaches to legged locomotion are widely dependent on the use of models like the linear inverted pendulum (LIP) and the spring-loaded inverted pendulum (SLIP), popular because their simplicity enables a wide array of…
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…
Spherical robots can conduct surveillance in hostile, cluttered environments without being damaged, as their protective shell can safely house sensors such as cameras. However, lateral oscillations, also known as wobble, occur when these…
Swing arms have an irreplaceable role in promoting highly dynamic locomotion on bipedal robots by a larger angular momentum control space from the viewpoint of biomechanics. Few bipedal robots utilize swing arms and its redundancy…
Hierarchical inverse dynamics based on cascades of quadratic programs have been proposed for the control of legged robots. They have important benefits but to the best of our knowledge have never been implemented on a torque controlled…
Quantifying the safety of the human body orientation is an important issue in human-robot interaction. Knowing the changing physical constraints on human motion can improve inspection of safe human motions and bring essential information…
The ability to realize nonlinear controllers with formal guarantees on dynamic robotic systems has the potential to enable more complex robotic behaviors -- yet, realizing these controllers is often practically challenging. To address this…
Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a…
In this paper, we propose a multi-domain control parameter learning framework that combines Bayesian Optimization (BO) and Hybrid Zero Dynamics (HZD) for locomotion control of bipedal robots. We leverage BO to learn the control parameters…
The application of biomechanic and motor control models in the control of bidedal robots (humanoids, and exoskeletons) has revealed limitations of our understanding of human locomotion. A recently proposed model uses the potential energy…
In this paper we exploit some interesting properties of a class of bipedal robots which have an inertial disc. One of this properties is the ability to control every position and speed except for the disc position. The proposed control is…
Designing an exoskeleton to reduce the risk of low-back injury during lifting is challenging. Computational models of the human-robot system coupled with predictive movement simulations can help to simplify this design process. Here, we…
Robust closed-loop locomotion remains challenging for soft quadruped robots due to high-dimensional dynamics, actuator hysteresis, and difficult-to-model contact interactions, while conventional proprioception provides limited information…
Despite major advancements in control design that are robust to unplanned disturbances, bipedal robots are still susceptible to falling over and struggle to negotiate rough terrains. By utilizing thrusters in our bipedal robot, we can…
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…
Achieving closed-loop control over wireless is crucial in realizing the vision of Industry 4.0 and beyond. This demonstration shows the viability of closed-loop control over wireless through a high-performance wireless solution. The…
A safety-critical measure of legged locomotion performance is a robot's ability to track its desired time-varying position trajectory in an environment, which is herein termed as "global-position tracking". This paper introduces a nonlinear…
With the goal of moving towards implementation of increasingly dynamic behaviors on underactuated systems, this paper presents an optimization-based approach for solving full-body dynamics based controllers on underactuated bipedal robots.…
In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in $SE(3)$. The robots do not know the mass or friction properties of the object, or where they are attached to the…
The Cassie bipedal robot designed by Agility Robotics is providing academics a common platform for sharing and comparing algorithms for locomotion, perception, and navigation. This paper focuses on feedback control for standing and walking…