Related papers: Dadu-RBD: Robot Rigid Body Dynamics Accelerator wi…
We propose a hardware-efficient RBD accelerator based on FPGA, introducing three key innovations. First, we propose a precision-aware quantization framework that reduces DSP demand while preserving motion accuracy. This is also the first…
As the need for more computing power grows, traditional methods are hitting limits. To boost performance, we're expanding Central Processing Unit (CPU) capabilities and using specialized hardware accelerators. For example, mobile devices…
Autonomous robots are increasingly prevalent in our society, emerging in medical care, transportation vehicles, and home assistance. These robots rely on motion planning and collision detection to identify a sequence of movements allowing…
This letter presents a method to reduce the computational demands of including second-order dynamics sensitivity information into the Differential Dynamic Programming (DDP) trajectory optimization algorithm. An approach to DDP is developed…
A common strategy today to generate efficient locomotion movements is to split the problem into two consecutive steps: the first one generates the contact sequence together with the centroidal trajectory, while the second one computes the…
A key ingredient to achieving intelligent behavior is physical understanding that equips robots with the ability to reason about the effects of their actions in a dynamic environment. Several methods have been proposed to learn dynamics…
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…
Many algorithms for control, optimization and estimation in robotics depend on derivatives of the underlying system dynamics, e.g. to compute linearizations, sensitivities or gradient directions. However, we show that when dealing with…
Recent researches on robotics have shown significant improvement, spanning from algorithms, mechanics to hardware architectures. Robotics, including manipulators, legged robots, drones, and autonomous vehicles, are now widely applied in…
Soft robots can execute tasks with safer interactions. However, control techniques that can effectively exploit the systems' capabilities are still missing. Differential dynamic programming (DDP) has emerged as a promising tool for…
While quadruped robots usually have good stability and load capacity, bipedal robots offer a higher level of flexibility / adaptability to different tasks and environments. A multi-modal legged robot can take the best of both worlds. In…
Artificial intelligence necessitates adaptable hardware accelerators for efficient high-throughput million operations. We present pipelined architecture with CORDIC block for linear MAC computations and nonlinear iterative Activation…
Reactive trajectory optimization for robotics presents formidable challenges, demanding the rapid generation of purposeful robot motion in complex and swiftly changing dynamic environments. While much existing research predominantly…
This paper proposes a modular framework to generate robust biped locomotion using a tight coupling between an analytical walking approach and deep reinforcement learning. This framework is composed of six main modules which are…
Autonomous robotic systems, like autonomous vehicles and robotic search and rescue, require efficient on-device training for continuous adaptation of Deep Reinforcement Learning (DRL) models in dynamic environments. This research is…
Robotics demands simulation that can reason about the diversity of real-world physical interactions, from rigid to deformable objects and fluids. Current simulators address this by stitching together multiple subsolvers for different…
An essential need for many model-based robot control algorithms is the ability to quickly and accurately compute partial derivatives of the equations of motion. State of the art approaches to this problem often use analytical methods based…
Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical reality. This is due to continued progress in three key areas: a mathematical understanding of locomotion, the computational ability to encode this…
Specialized motions such as jumping are often achieved on quadruped robots by solving a trajectory optimization problem once and executing the trajectory using a tracking controller. This approach is in parallel with Model Predictive…
Recent advancements in neural rendering technologies and their supporting devices have paved the way for immersive 3D experiences, significantly transforming human interaction with intelligent devices across diverse applications. However,…