Related papers: An Integrated Programmable CPG with Bounded Output
Teleoperation is crucial for hazardous environment operations and serves as a key tool for collecting expert demonstrations in robot learning. However, existing methods face robotic hardware dependency and control frequency mismatches…
Neuromorphic computing systems, where information is transmitted through action potentials in a bio-plausible fashion, is gaining increasing interest due to its promise of low-power event-driven computing. Application of neuromorphic…
Central Pattern Generators (CPGs) have several properties desirable for locomotion: they generate smooth trajectories, are robust to perturbations and are simple to implement. Although conceptually promising, we argue that the full…
Robotic manipulators often face challenges in handling objects of different sizes and materials, limiting their effectiveness in practical applications. This issue is particularly pronounced when manipulating meter-scale objects or those…
Locomotion is a crucial challenge for legged robots that is addressed "effortlessly" by biological networks abundant in nature, named central pattern generators (CPG). The multitude of CPG network models that have so far become biomimetic…
In this paper, we extend a famous motion planning approach GPMP2 to multi-robot cases, yielding a novel centralized trajectory generation method for the multi-robot formation. A sparse Gaussian Process model is employed to represent the…
Central Pattern Generators (CPGs) models have been long used to investigate both the neural mechanisms that underlie animal locomotion as well as a tool for robotic research. In this work we propose a spiking CPG neural network and its…
In co-manipulative continuum robots (CCRs), multiple continuum arms cooperate by grasping a common flexible object, forming a closed-chain deformable mechanical system. The closed-chain coupling induces strong dynamic interactions and…
In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics and constraints of the contact-constrained robot are…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
The Central Pattern Generator (CPG) is adept at generating rhythmic gait patterns characterized by consistent timing and adequate foot clearance. Yet, its open-loop configuration often compromises the system's control performance in…
Model Predictive Control (MPC) is a powerful technique to control nonlinear, multi-input multi-output systems subject to input and state constraints. It is now a standard tool for trajectory tracking control of automated vehicles. As such…
This paper aims to present a stability control strategy for quadruped robot under lateral impact with the help of lateral trot. We firstly propose five necessary conditions for keeping balance. The classical four-neuron Central Pattern…
Online planning of whole-body motions for legged robots is challenging due to the inherent nonlinearity in the robot dynamics. In this work, we propose a nonlinear MPC framework, the BiConMP which can generate whole body trajectories online…
In recent years, locomotion mechanisms exhibited by vertebrate animals have been the inspiration for the improvement in the performance of robotic systems. These mechanisms include the adaptability of their locomotion to any change…
Aiming to mimic the brachiation locomotion of primates, we establish a brachiation robot model capable of swinging between different bars. The robot's design is based on a four-link underactuated structure. We propose an offline trajectory…
Animal locomotion employs different periodic patterns known as animal gaits. In 1993 Collins and Stewart achieved the characterization in quadrupeds and bipeds by using permutation symmetries groups which impose constrains in the locomotion…
Available possibilities to prevent a biped robot from falling down in the presence of severe disturbances are mainly Center of Pressure (CoP) modulation, step location and timing adjustment, and angular momentum regulation. In this paper,…
Developing robust locomotion for humanoid robots is a complex task due to the unstable nature of these robots and also to the unpredictability of the terrain. A robust locomotion planner is one of the fundamental components for generating…
Soft robots have the potential to interact with sensitive environments and perform complex tasks effectively. However, motion plans and trajectories for soft manipulators are challenging to calculate due to their deformable nature and…