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In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction perspective, where a robot must not only stay inside a…
One of the challenges for the robotics community is to deploy robots which can reliably operate in real world scenarios together with humans. A crucial requirement for legged robots is the capability to properly balance on their feet,…
Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…
In intelligent manufacturing, robots are asked to dynamically adapt their behaviours without reducing productivity. Human teaching, where an operator physically interacts with the robot to demonstrate a new task, is a promising strategy to…
Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a…
We describe a framework for changing-contact robot manipulation tasks that require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a…
This work presents an extended framework for learning-based bipedal locomotion that incorporates a heuristic step-planning strategy guided by desired torso velocity tracking. The framework enables precise interaction between a humanoid…
Whole-body control (WBC) is a generic task-oriented control method for feedback control of loco-manipulation behaviors in humanoid robots. The combination of WBC and model-based walking controllers has been widely utilized in various…
Amphibious legged robots inspired by salamanders are promising in applications in complex amphibious environments. However, despite the significant success of training controllers that achieve diverse locomotion behaviors in conventional…
Humanoid robots dynamically navigate an environment by interacting with it via contact wrenches exerted at intermittent contact poses. Therefore, it is important to consider dynamics when planning a contact sequence. Traditional contact…
Linear models for control and motion generation of humanoid robots have received significant attention in the past years, not only due to their well known theoretical guarantees, but also because of practical computational advantages.…
Humanoid robots are expected to operate in human-centered environments where safe and natural physical interaction is essential. However, most recent reinforcement learning (RL) policies emphasize rigid tracking and suppress external…
Current approaches to humanoid control generally fall into two paradigms: perceptive locomotion, which handles terrain well but is limited to pedal gaits, and general motion tracking, which reproduces complex skills but ignores…
The musculoskeletal humanoid can move well under environmental contact thanks to its body softness. However, there are few studies that actively make use of the environment to rest its flexible musculoskeletal body. Also, its complex…
In this paper, a reinforced soft robot prototype with a custom-designed actuator-space string encoder are created to investigate dynamic soft robotic trajectory tracking. The soft robot prototype embedded with the proposed adaptive…
Continuum soft robots are mechanical systems entirely made of continuously deformable elements. This design solution aims to bring robots closer to invertebrate animals and soft appendices of vertebrate animals (e.g., an elephant's trunk, a…
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…
When carrying out tasks in contact with the environment, humans are found to concurrently adapt force, impedance and trajectory. Here we develop a robotic model of this mechanism in humans and analyse the underlying dynamics. We derive a…
In this paper, we devise methods for the multi- objective control of humanoid robots, a.k.a. prioritized whole- body controllers, that achieve efficiency and robustness in the algorithmic computations. We use a form of whole-body…
This paper addresses the design and development of an autonomous biped robot using master and worker combination of controllers. In addition, the bot is wirelessly controllable. The work presented here explains the walking pattern, system…