Related papers: Capture Point Control in Thruster-Assisted Bipedal…
Recently, work on reinforcement learning (RL) for bipedal robots has successfully learned controllers for a variety of dynamic gaits with robust sim-to-real demonstrations. In order to maintain balance, the learned controllers have full…
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…
Bipedal robots have advantages in maneuvering human-centered environments, but face greater failure risk compared to other stable mobile platforms such as wheeled or quadrupedal robots. While learning-based traversability has been widely…
When legged robots impact their environment, they undergo large changes in their velocities in a small amount of time. Measuring and applying feedback to these velocities is challenging, and is further complicated due to uncertainty in the…
In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to impact emerging robotics applications from logistics, to agriculture, to home assistance. The goal of this survey is to cover the recent progress toward…
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…
An intuitive control method for the flying trot, which combines offline trajectory planning with real-time balance control, is presented. The motion features of running animals in the vertical direction were analysed using the…
Dynamic bipedal robot locomotion has achieved remarkable success due in part to recent advances in trajectory generation and nonlinear control for stabilization. A key assumption utilized in both theory and experiments is that the robot's…
Pedipulation leverages the feet of legged robots for mobile manipulation, eliminating the need for dedicated robotic arms. While previous works have showcased blind and task-specific pedipulation skills, they fail to account for static and…
Traditional approaches to quadruped control frequently employ simplified, hand-derived models. This significantly reduces the capability of the robot since its effective kinematic range is curtailed. In addition, kinodynamic constraints are…
In this paper, we devise methods for the multi- objective control of humanoid robots, a.k.a. prioritized whole- body controllers, that achieve efficiency and robustness in the algorithmic computations. We use a form of whole-body…
Capturability analysis of the linear inverted pendulum (LIP) model enabled walking with constrained height based on the capture point. We generalize this analysis to the variable-height inverted pendulum (VHIP) and show how it enables 3D…
Hip exoskeletons are known for their versatility in assisting users across varied scenarios. However, current assistive strategies often lack the flexibility to accommodate for individual walking patterns and adapt to diverse locomotion…
Simplified models of the dynamics such as the linear inverted pendulum model (LIPM) have proven to perform well for biped walking on flat ground. However, for more complex tasks the assumptions of these models can become limiting. For…
Previous studies have successfully demonstrated agile and robust locomotion in challenging terrains for quadrupedal robots. However, the bipedal locomotion mode for quadruped robots remains unverified. This paper explores the adaptation of…
Recently several hierarchical inverse dynamics controllers based on cascades of quadratic programs have been proposed for application on torque controlled robots. They have important theoretical benefits but have never been implemented on a…
In this research, we have developed the data driven computational walking model to overcome the problem with traditional kinematics based model. Our model is adaptable and can adjust the parameter morphological similar to human. The human…
Gait control of legged robotic walkers on dynamically moving surfaces (e.g., ships and vehicles) is challenging due to the limited balance control actuation and unknown surface motion. We present a contingent model predictive control (CMPC)…
Stable and robust robotic grasping is essential for current and future robot applications. In recent works, the use of large datasets and supervised learning has enhanced speed and precision in antipodal grasping. However, these methods…
Legged robots that can operate autonomously in remote and hazardous environments will greatly increase opportunities for exploration into under-explored areas. Exteroceptive perception is crucial for fast and energy-efficient locomotion:…