Related papers: Reactive Gait Composition with Stability: Dynamic …
Discrete and periodic contact switching is a key characteristic of steady-state legged locomotion. This paper introduces a framework for modeling and analyzing this contact-switching behavior through the framework of geometric mechanics on…
In this paper, we deal with the problem of full-body path planning for walking robots. The state of walking robots is defined in multi-dimensional space. Path planning requires defining the path of the feet and the robot's body. Moreover,…
In many robot control problems, factors such as stiffness and damping matrices and manipulability ellipsoids are naturally represented as symmetric positive definite (SPD) matrices, which capture the specific geometric characteristics of…
This paper extends the family of gap-based local planners to unknown dynamic environments through generating provable collision-free properties for hierarchical navigation systems. Existing perception-informed local planners that operate in…
Bipeds have demonstrated high agility and mobility in unstructured environments such as sand. The yielding of such granular media brings significant sinkage and slip of the bipedal feet, leading to uncertainty and instability of walking…
This work presents a computationally lightweight motion planner for over-actuated platforms. For this purpose, a general state-space model for mobile platforms with several kinematic chains is defined, which considers non-linearities and…
Robotic manipulators operating in dynamic and uncertain environments require efficient motion planning to navigate obstacles while maintaining smooth trajectories. Velocity Potential Field (VPF) planners offer real-time adaptability but…
The ability to generate robust walking gaits on bipedal robots is key to their successful realization on hardware. To this end, this work extends the method of Hybrid Zero Dynamics (HZD) -- which traditionally only accounts for locomotive…
In warehouse and manufacturing environments, manipulation platforms are frequently deployed at conveyor belts to perform pick and place tasks. Because objects on the conveyor belts are moving, robots have limited time to pick them up. This…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
Robots incurring component failures ought to adapt their behavior to best realize still-attainable goals under reduced capacity. We formulate the problem of planning with actuators known a priori to be susceptible to failure within the…
One of the most efficient ways of generating goal-directed walking motions is synthesising the final motion based on footprints. Nevertheless, current implementations have not examined the generation of continuous motion based on…
We present a novel receding-horizon multi-contact motion planner for legged robots in challenging scenarios, able to plan motions such as chimney climbing, navigating very narrow passages or crossing large gaps. Our approach adds new…
Many exciting robotic applications require multiple robots with many degrees of freedom, such as manipulators, to coordinate their motion in a shared workspace. Discovering high-quality paths in such scenarios can be achieved, in principle,…
In this paper, we present a novel two-level variable Horizon Model Predictive Control (VH-MPC) framework for bipedal locomotion. In this framework, the higher level computes the landing location and timing (horizon length) of the swing foot…
This paper presents an approach for learning motion planners that are accompanied with probabilistic guarantees of success on new environments that hold uniformly for any disturbance to the robot's dynamics within an admissible set. We…
Recurrent neural network-based reinforcement learning systems are capable of complex motor control tasks such as locomotion and manipulation, however, much of their underlying mechanisms still remain difficult to interpret. Our aim is to…
This paper presents an online walking synthesis methodology to enable dynamic and stable walking on constrained footholds for underactuated bipedal robots. Our approach modulates the change of angular momentum about the foot-ground contact…
Learned locomotion policies can rapidly adapt to diverse environments similar to those experienced during training but lack a mechanism for fast tuning when they fail in an out-of-distribution test environment. This necessitates a slow and…
This paper presents a method for robotic monitoring missions in the presence of moving obstacles. Although the scenario map is known, the robot lacks information about the movement of dynamic obstacles during the monitoring mission.…