Related papers: Conjugate momentum based thruster force estimate i…

In the first part of this thesis, we present our efforts on experimental validation of the predictive performance of mechanics-based mathematical models on a physical one-legged hopping robot platform. We extend upon a recently proposed…

We propose a combined method for the collaborative transportation of a suspended payload by a team of rotorcraft. A recent distance-based formation-motion control algorithm based on assigning distance disagreements among robots generates…

There has been significant advancement in legged robot's agility where they can show impressive acrobatic maneuvers, such as parkour. These maneuvers rely heavily on posture manipulation. To expand the stability and locomotion plasticity,…

Methods are presented for measuring thrust using common force sensors and data acquisition to construct a dynamic force plate. A spreadsheet can be used to compute trajectory by integrating the equations of motion numerically. These…

Robotic assembly tasks involve complex and low-clearance insertion trajectories with varying contact forces at different stages. While the nominal motion trajectory can be easily obtained from human demonstrations through kinesthetic…

This paper proposes a novel method to estimate the wheel dynamic load based on the gas pressure of a hydro-pneumatic suspension. A nonlinear coupled model between suspension chamber pressure and tire-ground contact force is developed,…

Accurate ground reaction force (GRF) estimation can significantly improve the adaptability of legged robots in various real-world applications. For instance, with estimated GRF and contact kinematics, the locomotion control and planning…

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 demonstrates simultaneous pose (position and orientation) and shape estimation for a free-floating, bioinspired multi-link robot with unactuated joints, link-mounted thrusters for control, and a single gyroscope per link,…

Articulated objects like doors, drawers, valves, and tools are pervasive in our everyday unstructured dynamic environments. Articulation models describe the joint nature between the different parts of an articulated object. As most of these…

Estimating the impact intensity is one of the significant tasks of the legged robot. Accurate feedback of the impact may support the robot to plan a suitable and efficient trajectory to adapt to unknown complex terrains. Ordinarily, this…

Legged robot navigation in unstructured and slippery terrains depends heavily on the ability to accurately identify the quality of contact between the robot's feet and the ground. Contact state estimation is regarded as a challenging…

Many robotic surgical systems have been developed with micro-sized forceps for tissue manipulation. However, these systems often lack force sensing at the tool side and the manipulation forces are roughly estimated and controlled relying on…

This paper studies estimation of causal effects in a panel data setting. We introduce a new estimator, the Triply RObust Panel (TROP) estimator, that combines (i) a flexible model for the potential outcomes based on a low-rank factor…

State of the art legged robots are either capable of measuring torque at the output of their drive systems, or have transparent drive systems which enable the computation of joint torques from motor currents. In either case, this sensor…

We present a general, two-stage reinforcement learning approach to create robust policies that can be deployed on real robots without any additional training using a single demonstration generated by trajectory optimization. The…

Modern humanoid robots have shown their promising potential for executing various tasks involving the grasping and manipulation of objects using their end-effectors. Nevertheless, in the most of the cases, the grasping and manipulation…

In this paper, we propose a locomotion training framework where a control policy and a state estimator are trained concurrently. The framework consists of a policy network which outputs the desired joint positions and a state estimation…

Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…

As bipedal robots become more and more popular in commercial and industrial settings, the ability to control them with a high degree of reliability is critical. To that end, this paper considers how to accurately estimate which feet are…