Related papers: Whole-Body Control for Velocity-Controlled Mobile …
In this paper, we present a hybrid position/force controller for operating joint robots. The hybrid controller has two goals -- motion tracking and force regulating. As long as these two goals are not mutually exclusive, they can be…
Modern, torque-controlled service robots can regulate contact forces when interacting with their environment. Model Predictive Control (MPC) is a powerful method to solve the underlying control problem, allowing to plan for whole-body…
Complex robotic systems require whole-body controllers to deal with contact interactions, handle closed kinematic chains, and track task-space control objectives. However, for many applications, safety-critical controllers are important to…
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…
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…
In this paper we address the problem of robot movement adaptation under various environmental constraints interactively. Motion primitives are generally adopted to generate target motion from demonstrations. However, their generalization…
In brain-machine interface (BMI) applications, a key challenge is the low information content and high noise level in neural signals, severely affecting stable robotic control. To address this challenge, we proposes a cooperative shared…
This paper proposes a novel control framework for agile and robust bipedal locomotion, addressing model discrepancies between full-body and reduced-order models. Specifically, assumptions such as constant centroidal inertia have introduced…
This work represents an initial benchmark of a large-scale soft robot performing physical, collaborative manipulation of a long, extended object with a human partner. The robot consists of a pneumatically-actuated, three-link continuum soft…
Whole-body loco-manipulation for quadruped robots with arms remains a challenging problem, particularly in achieving multi-task control. To address this, we propose MLM, a reinforcement learning framework driven by both real-world and…
In Human-Robot Collaboration, the robot operates in a highly dynamic environment. Thus, it is pivotal to guarantee the robust stability of the system during the interaction but also a high flexibility of the robot behavior in order to…
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…
In advanced manufacturing, strict safety guarantees are required to allow humans and robots to work together in a shared workspace. One of the challenges in this application field is the variety and unpredictability of human behavior,…
Research on mobile manipulation systems that physically interact with humans has expanded rapidly in recent years, opening the way to tasks which could not be performed using fixed-base manipulators. Within this context, developing suitable…
A novel motion control system for Compliant Framed wheeled Modular Mobile Robots (CFMMR) is studied in this paper. This type of wheeled mobile robot uses rigid axles coupled by compliant frame modules to provide both full suspension and…
Recent interest in mobile manipulation has resulted in a wide range of new robot designs. A large family of these designs focuses on modular platforms that combine existing mobile bases with static manipulator arms. They combine these…
Locomotion is a fundamental skill for humanoid robots. However, most existing works make locomotion a single, tedious, unextendable, and unconstrained movement. This limits the kinematic capabilities of humanoid robots. In contrast, humans…
Nowadays, industries are showing a growing interest in human-robot collaboration, particularly for shared tasks. This requires intelligent strategies to plan a robot's motions, considering both task constraints and human-specific factors…
Learning a general whole-body controller for humanoid robots remains challenging due to the diversity of motion distributions, the difficulty of fast adaptation, and the need for robust balance in high-dynamic scenarios. Existing approaches…
This paper introduces a new generalized control method designed for multi-degrees-of-freedom devices to help people with limited motion capabilities in their daily activities. The challenge lies in finding the most adapted strategy for the…