Related papers: Planar Bipedal Locomotion with Nonlinear Model Pre…
Autonomous robots require online trajectory planning capability to operate in the real world. Efficient offline trajectory planning methods already exist, but are computationally demanding, preventing their use online. In this paper, we…
This paper applies a recently developed geometric PID controller to stabilize a three-link planar bipedal hybrid dynamic walking model. The three links represent the robot torso and two kneeless legs, with an independent control torque…
Model-based control requires an accurate model of the system dynamics for precisely and safely controlling the robot in complex and dynamic environments. Moreover, in the presence of variations in the operating conditions, the model should…
Dual-arm mobile manipulators can transport and manipulate large-size objects with simple end-effectors. To interact with dynamic environments with strict safety and compliance requirements, achieving whole-body motion planning online while…
We introduce a method for learning the dynamics of complex nonlinear systems based on deep generative models over temporal segments of states and actions. Unlike dynamics models that operate over individual discrete timesteps, we learn the…
Controller design for bipedal walking on dynamic rigid surfaces (DRSes), which are rigid surfaces moving in the inertial frame (e.g., ships and airplanes), remains largely uninvestigated. This paper introduces a hierarchical control…
In bipedal gait design literature, one of the common ways of generating stable 3D walking gait is by designing the frontal and sagittal controllers as decoupled dynamics. The study of the decoupled frontal dynamics is, however, still…
The fundamental lemma from behavioral systems theory yields a data-driven non-parametric system representation that has shown great potential for the data-efficient control of unknown linear and weakly nonlinear systems, even in the…
Reducing the complexity of higher order problems can enable solving them in analytical ways. In this paper, we propose an analytic whole body motion generator for humanoid robots. Our approach targets inexpensive platforms that possess…
Legged robots with closed-loop kinematic chains are increasingly prevalent due to their increased mobility and efficiency. Yet, most motion generation methods rely on serial-chain approximations, sidestepping their specific constraints and…
During the development of wearable exoskeletons, evaluations involving human subjects pose inherent safety risks. Therefore, systematic testing is often conducted using robots that emulate human motion. However, reproducing human movements…
In order for a humanoid robot to perform loco-manipulation such as moving an object while walking, it is necessary to account for sustained or alternating external forces other than ground-feet reaction, resulting from humanoid-object…
Nonlinear Model Predictive Control (NMPC) is a powerful and widely used technique for nonlinear dynamic process control under constraints. In NMPC, the state and control weights of the corresponding state and control costs are commonly…
Reduced-order models (ROMs) provide a powerful means of synthesizing dynamic walking gaits on legged robots. Yet this approach lacks the formal guarantees enjoyed by methods that utilize the full-order model (FOM) for gait synthesis, e.g.,…
This paper presents an adaptive, model-based, nonlinear controller for the bicopter trajectory-tracking problem. The nonlinear controller is constructed by dynamically extending the bicopter model, stabilizing the extended dynamics using…
Dynamic legged locomotion is a challenging topic because of the lack of established control schemes which can handle aerial phases, short stance times, and high-speed leg swings. In this paper, we propose a controller combining whole-body…
Trajectory optimization is an essential tool for generating efficient, dynamically consistent gaits in legged locomotion. This paper explores the indirect method of trajectory optimization, emphasizing its application in creating optimal…
This paper presents a search-based partial motion planner to generate dynamically feasible trajectories for car-like robots in highly dynamic environments. The planner searches for smooth, safe, and near-time-optimal trajectories by…
Performing agile navigation with four-legged robots is a challenging task due to the highly dynamic motions, contacts with various parts of the robot, and the limited field of view of the perception sensors. In this paper, we propose a…
In this paper, we propose, discuss, and validate an online Nonlinear Model Predictive Control (NMPC) method for multi-rotor aerial systems with arbitrarily positioned and oriented rotors which simultaneously addresses the local reference…