Related papers: Real-time Coupled Centroidal Motion and Footstep P…
Despite the extensive presence of the legged locomotion in animals, it is extremely challenging to be reproduced with robots. Legged locomotion is an dynamic task which benefits from a planning that takes advantage of the gravitational pull…
This study introduces an analytically tractable and computationally efficient model of the legged robot dynamics associated with locomotion on a dynamic rigid surface (DRS), and develops a real-time motion planner based on the proposed…
Models of bipedal locomotion are hybrid, with a continuous component often generated by a Lagrangian plus actuators, and a discrete component where leg transfer takes place. The discrete component typically consists of a locally embedded…
This study explores the dynamics of asymmetrical bounding gaits in quadrupedal robots, focusing on the integration of torso pitching and hip motion to enhance speed and stability. Traditional control strategies often enforce a fixed…
This paper presents a gait controller for bipedal robots to achieve highly agile walking over various terrains given local slope and friction cone information. Without these considerations, untimely impacts can cause a robot to trip and…
To increase the speed of operation and reduce operator burden, humanoid robots must be able to function autonomously, even in complex, cluttered environments. For this to be possible, they must be able to quickly and efficiently compute…
Spring Loaded Inverted Pendulum (SLIP) model has a long history in describing running behavior in animals and humans as well as has been used as a design basis for robots capable of dynamic locomotion. Anchoring the SLIP for lossy physical…
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, we holistically present a Hybrid-Linear Inverted Pendulum (H-LIP) based approach for synthesizing and stabilizing 3D foot-underactuated bipedal walking, with an emphasis on thorough hardware realization. The H-LIP is proposed…
Task and motion planning under Signal Temporal Logic constraints is known to be NP-hard. A common class of approaches formulates these hybrid problems, which involve discrete task scheduling and continuous motion planning, as mixed-integer…
Bipedal robots promise the ability to traverse rough terrain quickly and efficiently, and indeed, humanoid robots can now use strong ankles and careful foot placement to traverse discontinuous terrain. However, more agile underactuated…
A new control paradigm using angular momentum and foot placement as state variables in the linear inverted pendulum model has expanded the realm of possibilities for the control of bipedal robots. This new paradigm, known as the ALIP model,…
One challenge of legged locomotion on uneven terrains is to deal with both the discrete problem of selecting a contact surface for each footstep and the continuous problem of placing each footstep on the selected surface. Consequently,…
A long-standing argument in model-based control of locomotion is about the level of complexity that a model should have to define a behavior such as running. Even though goldilocks model based on biomechanical evidence is often sought, it…
This paper seeks insight into stabilization mechanisms for periodic walking gaits in 3D bipedal robots. Based on this insight, a control strategy based on virtual constraints, which imposes coordination between joints rather than a temporal…
In trying to build humanoid robots that perform useful tasks in a world built for humans, we address the problem of autonomous locomotion. Humanoid robot planning and control algorithms for walking over rough terrain are becoming…
Navigating a large-scaled robot in unknown and cluttered height-constrained environments is challenging. Not only is a fast and reliable planning algorithm required to go around obstacles, the robot should also be able to change its…
Traditional force-controlled bipedal walking utilizes highly bent knees, resulting in high torques as well as inefficient, and unnatural motions. Even with advanced planning of center of mass height trajectories, significant amounts of…
Planning whole-body motions while taking into account the terrain conditions is a challenging problem for legged robots since the terrain model might produce many local minima. Our coupled planning method uses stochastic and…
We present an integrated approach to locomotion and balancing of humanoid robots based on direct centroidal control. Our method uses a five-mass description of a humanoid. It generates whole-body motions from desired foot trajectories and…