Related papers: Torque-Minimizing Control Allocation for Overactua…
Recent advancements in adaptive control for reference trajectory tracking enable quadrupedal robots to perform locomotion tasks under challenging conditions. There are methods enabling the estimation of the external disturbances in terms of…
The sit-to-stand movement is a key feature for wide adoption of powered lower limb orthoses for patients with complete paraplegia. In this paper we study the control of the ascending phase of the sit-to-stand movement for a minimally…
This paper presents a novel method for directly incorporating user-defined control input saturations into the calculation of a control Lyapunov function (CLF)-based walking controller for a biped robot. Previous work by the authors has…
Legged robots leverage ground contacts and the reaction forces they provide to achieve agile locomotion. However, uncertainty coupled with contact discontinuities can lead to failure, especially in real-world environments with unexpected…
Optimal control of switched systems is challenging due to the discrete nature of the switching control input. The embedding-based approach addresses this challenge by solving a corresponding relaxed optimal control problem with only…
Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These techniques are commonly seen in nature, such as Chukar birds…
Wheel-legged robots with integrated manipulators hold great promise for mobile manipulation in logistics, industrial automation, and human-robot collaboration. However, unified control of such systems remains challenging due to the…
Miniature-legged robots are constrained by their onboard computation and control, thus motivating the need for simple, first-principles-based geometric models that connect \emph{periodic actuation or gaits} (a universal robot control…
Hierarchical inverse dynamics based on cascades of quadratic programs have been proposed for the control of legged robots. They have important benefits but to the best of our knowledge have never been implemented on a torque controlled…
Quadrupedal wheeled-legged robots combine the advantages of legged and wheeled locomotion to achieve superior mobility, but executing dynamic jumps remains a significant challenge due to the additional degrees of freedom introduced by…
We introduce a real-time, constrained, nonlinear Model Predictive Control for the motion planning of legged robots. The proposed approach uses a constrained optimal control algorithm known as SLQ. We improve the efficiency of this algorithm…
This paper presents a distributed inverse dynamics controller (DIDC) for quadruped robots that addresses the limitations of existing reactive controllers: simplified dynamical models, the inability to handle exact friction cone constraints,…
Reduced-order template models are widely used to control high degree-of-freedom legged robots, but existing methods for template-based whole-body control rely heavily on heuristics and often suffer from robustness issues. In this letter, we…
This paper considers the optimal control for hybrid systems whose trajectories transition between distinct subsystems when state-dependent constraints are satisfied. Though this class of systems is useful while modeling a variety of…
A common approach to the generation of walking patterns for humanoid robots consists in adopting a layered control architecture. This paper proposes an architecture composed of three nested control loops. The outer loop exploits a robot…
This paper presents a method for achieving high-speed running of a quadruped robot by considering the actuator torque-speed operating region in reinforcement learning. The physical properties and constraints of the actuator are included in…
This paper focuses on the energy-time optimal control of wheeled mobile robots undergoing point-to-point transitions in an obstacles free space. Two interchangeable models are used to arrive at the necessary conditions for optimality. The…
Legged robot research is presently focused on bipedal or quadrupedal robots, despite capabilities to build robots with many more legs to potentially improve locomotion performance. This imbalance is not necessarily due to hardware…
This paper studies real-time motion planning and control for ball bumping motion with quadruped robots. To enable the quadruped to bump the flying ball with different initializations, we develop a nonlinear trajectory optimization-based…
Optimal control of magnetizing current for minimizing induction motor power losses during load torque step change was developed. Obtained strategy has feedback form and is exactly optimal of ideal speed controller performance and absence of…