Related papers: CDM-MPC: An Integrated Dynamic Planning and Contro…
This paper proposes a novel control framework for agile and robust bipedal locomotion, addressing model discrepancies between full-body and reduced-order models. Specifically, assumptions such as constant centroidal inertia have introduced…
Collision-free planning is essential for bipedal robots operating within unstructured environments. This paper presents a real-time Model Predictive Control (MPC) framework that addresses both body and foot avoidance for dynamic bipedal…
In this paper, previous works on the Model Predictive Control (MPC) and the Divergent Component of Motion (DCM) for bipedal walking control are extended. To this end, we employ a single MPC which uses a combination of Center of Pressure…
This paper proposes a kinodynamic motion planning framework for multi-legged robot jumping based on the mixed-integer convex program (MICP), which simultaneously reasons about centroidal motion, contact points, wrench, and gait sequences.…
Dynamic and continuous jumping remains an open yet challenging problem in bipedal robot control. Real-time planning with full body dynamics over the entire jumping trajectory presents unsolved challenges in computation burden. In this…
Generating dynamic jumping motions on legged robots remains a challenging control problem as the full flight phase and large landing impact are expected. Compared to quadrupedal robots or other multi-legged robots, bipedal robots place…
The robust balancing capability of humanoids is essential for mobility in real environments. Many studies focus on implementing human-inspired ankle, hip, and stepping strategies to achieve human-level balance. In this paper, a robust…
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…
We propose a novel Model Predictive Control (MPC) framework for a jet-powered flying humanoid robot. The controller is based on a linearised centroidal momentum model to represent the flight dynamics, augmented with a second-order nonlinear…
In this paper, we propose a novel framework on force-and-moment-based Model Predictive Control (MPC) for dynamic legged robots. Specifically, we present a formulation of MPC designed for 10 degree-of-freedom (DoF) bipedal robots using…
In this paper, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We model the hybrid nature of a generic multi-limbed mobile…
To achieve highly dynamic jumps of legged robots, it is essential to control the rotational dynamics of the robot. In this paper, we aim to improve the jumping performance by proposing a unified model for planning highly dynamic jumps that…
Recent progress in legged locomotion has rendered quadruped manipulators a promising solution for performing tasks that require both mobility and manipulation (loco-manipulation). In the real world, task specifications and/or environment…
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…
This paper proposes a fully decentralized model predictive control (MPC) framework with control barrier function (CBF) constraints for safety-critical trajectory planning in multi-robot legged systems. The incorporation of CBF constraints…
This paper proposes an online bipedal footstep planning strategy that combines model predictive control (MPC) and reinforcement learning (RL) to achieve agile and robust bipedal maneuvers. While MPC-based foot placement controllers have…
This paper presents a sequential Model Predictive Control (MPC) approach to reactive motion planning for bipedal robots in dynamic environments. The approach relies on a sequential polytopic decomposition of the free space, which provides…
This study presents a theoretical method for planning and controlling agile bipedal locomotion based on robustly tracking a set of non-periodic keyframe states. Based on centroidal momentum dynamics, we formulate a hybrid phase-space…
This paper presents a scalable multi-robot motion planning algorithm called Conflict-Based Model Predictive Control (CB-MPC). Inspired by Conflict-Based Search (CBS), the planner leverages a similar high-level conflict tree to efficiently…
Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…