Related papers: Contact-timing and Trajectory Optimization for 3D …
In this work we present a whole-body Nonlinear Model Predictive Control approach for Rigid Body Systems subject to contacts. We use a full dynamic system model which also includes explicit contact dynamics. Therefore, contact locations,…
Wheel-legged robots with integrated manipulators hold great promise for mobile manipulation in logistics, industrial automation, and human-robot collaboration. However, unified control of such systems remains challenging due to the…
Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…
In this paper we propose a method to improve the accuracy of trajectory optimization for dynamic robots with intermittent contact by using orthogonal collocation. Until recently, most trajectory optimization methods for systems with…
Performing large step-ups is a challenging task for a humanoid robot. It requires the robot to perform motions at the limit of its reachable workspace while straining to move its body upon the obstacle. This paper presents a non-linear…
Dynamic traversal of uneven terrain is a major objective in the field of legged robotics. The most recent model predictive control approaches for these systems can generate robust dynamic motion of short duration; however, planning over a…
Quadruped robots demonstrate robust and agile movements in various terrains; however, their navigation autonomy is still insufficient. One of the challenges is that the motion capabilities of the quadruped robot are anisotropic along…
The general problem of planning feasible trajectories for multimodal robots is still an open challenge. This paper presents a whole-body trajectory optimisation approach that addresses this challenge by combining methods and tools developed…
Background The development of a simulation model of full body reaching tasks that can predict endeffector trajectories and joint excursions consistent with experimental data is a non-trivial task. Because of the kinematic redundancy…
Many-legged elongated robots show promise for reliable mobility on rugged landscapes. However, most studies on these systems focus on planar motion planning without addressing rapid vertical motion. Despite their success on mild rugged…
Dynamic jumping on high platforms and over gaps differentiates legged robots from wheeled counterparts. Dynamic locomotion on abrupt surfaces, as opposed to walking on rough terrains, demands the integration of proprioceptive and…
We propose a variant of alternating direction method of multiplier (ADMM) to solve constrained trajectory optimization problems. Our ADMM framework breaks a joint optimization into small sub-problems, leading to a low iteration cost and…
One of the essential aspects of humanoid robot running is determining the limb-swinging trajectories. During the flight phases, where the ground reaction forces are not available for regulation, the limb swinging trajectories are…
Trajectory optimization is becoming increasingly powerful in addressing motion planning problems of underactuated robotic systems. Numerous prior studies solve such a class of large non-convex optimal control problems in a hierarchical…
Most existing methods for motion planning of mobile robots involve generating collision-free trajectories. However, these methods focusing solely on contact avoidance may limit the robots' locomotion and can not be applied to tasks where…
Trajectory planning for mobile robots in cluttered environments remains a major challenge due to narrow passages, where conventional methods often fail or generate suboptimal paths. To address this issue, we propose the adaptive trajectory…
Parameterizing finger rolling and finger-object contacts in a differentiable manner is important for formulating dexterous manipulation as a trajectory optimization problem. In contrast to previous methods which often assume simplified…
Achieving versatile and explosive motion with robustness against dynamic uncertainties is a challenging task. Introducing parallel compliance in quadrupedal design is deemed to enhance locomotion performance, which, however, makes the…
Many robotic systems must follow planned paths yet pause safely and resume when people or objects intervene. We present an output-space method for systems whose tracked output can be feedback-linearized to a double integrator (e.g.,…
A monoped's jump height and energy consumption depend on both, its mechanical design and control strategy. Existing co-design frameworks typically optimize for either maximum height or minimum energy, neglecting their trade-off. They also…