Related papers: Bipedal locomotion using geometric techniques
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…
Available possibilities to prevent a biped robot from falling down in the presence of severe disturbances are mainly Center of Pressure (CoP) modulation, step location and timing adjustment, and angular momentum regulation. In this paper,…
Recent advances in deep reinforcement learning (RL) based techniques combined with training in simulation have offered a new approach to developing robust controllers for legged robots. However, the application of such approaches to real…
Humans are highly adept at walking in environments with foot placement constraints, including stepping-stone scenarios where the footstep locations are fully constrained. Finding good solutions to stepping-stone locomotion is a longstanding…
We propose a method of bi-coordinate variations for non-stationary and non-smooth optimization problems, which involve a single linear equality and box constraints. Here only approximation sequences are known instead of exact values of the…
Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of locomotion, but traversing unfavorable environments may require…
We define a simpler notion of symmetric topological complexity more ad hoc to the motion planning problem which was the original motivation for the definition of topological complexity. This is a homotopy invariant that we call…
This article explores some geometric and algebraic properties of the dynamical system which is represented by matrix differential equations arising from inertial navigation problems, such as the symplecticity and the orthogonality.…
In this paper, we will report our efforts in designing closed-loop feedback for the thruster-assisted walking of bipedal robots. We will assume for well-tuned supervisory controllers and will focus on fine-tuning the joints desired…
This work presents Neural Gaits, a method for learning dynamic walking gaits through the enforcement of set invariance that can be refined episodically using experimental data from the robot. We frame walking as a set invariance problem…
Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of locomotion, but traversing unfavorable environments may require…
In this paper, with a view toward fast deployment of locomotion gaits in low-cost hardware, we use a linear policy for realizing end-foot trajectories in the quadruped robot, Stoch $2$. In particular, the parameters of the end-foot…
Cost functions have the potential to provide compact and understandable generalizations of motion. The goal of Inverse Optimal Control (IOC) is to analyze an observed behavior which is assumed to be optimal with respect to an unknown cost…
We consider the problem of designing a smooth trajectory that traverses a sequence of convex sets in minimum time, while satisfying given velocity and acceleration constraints. This problem is naturally formulated as a nonconvex program. To…
In order for a bimanual robot to manipulate an object that is held by both hands, it must construct motion plans such that the transformation between its end effectors remains fixed. This amounts to complicated nonlinear equality…
Safe path and gait planning are essential for bipedal robots to navigate complex real-world environments. The prevailing approaches often plan the path and gait separately in a hierarchical fashion, potentially resulting in unsafe movements…
A safety-critical measure of legged locomotion performance is a robot's ability to track its desired time-varying position trajectory in an environment, which is herein termed as "global-position tracking". This paper introduces a nonlinear…
A block decomposition method is proposed for minimizing a (possibly non-convex) continuously differentiable function subject to one linear equality constraint and simple bounds on the variables. The proposed method iteratively selects a…
Planning trajectories for nonholonomic systems is difficult and computationally expensive. When facing unexpected events, it may therefore be preferable to deform in some way the initially planned trajectory rather than to re-plan entirely…
In this work, the hierarchical control strategy of template-based control for a bipedal robot is described. The axial force of a compliant leg is redirected to a point, called the virtual pivot point (VPP), of a 2D biped robot, which is…