Related papers: Distributed Inverse Dynamics Control for Quadruped…
An omnidirectional multirotor has the maneuverability of decoupled translational and rotational motions, superseding the traditional multirotors' motion capability. Such maneuverability is achieved due to the ability of the omnidirectional…
Delta kick cooling (DKC) is used to compress the momentum distribution of ultracold quantum matter. It combines expansion dynamics with the use of kick pulses, designed via classical methods, that bring the system to rest. We introduce an…
This work presents the coordinated motion control and obstacle-crossing problem for the four wheel-leg independent motor-driven robotic systems via a model predictive control (MPC) approach based on an event-triggering mechanism. The…
This paper contributes towards the benchmarking of control architectures for bipedal robot locomotion. It considers architectures that are based on the Divergent Component of Motion (DCM) and composed of three main layers: trajectory…
Modern applications of robotics typically involve a robot control system with an inner PI (proportional-integral) or PID (proportional-integral-derivative) control loop and an outer user-specified control loop. The existing outer loop…
Multi-robot cooperative control has gained extensive research interest due to its wide applications in civil, security, and military domains. This paper proposes a cooperative control algorithm for multi-robot systems with general linear…
Virtual Decomposition Control (VDC) has emerged as a powerful modular framework for real-world robotic control, particularly in contact-rich tasks. Despite its widespread use, VDC has been fundamentally limited to first-order impedance…
The hybrid zero dynamics (HZD) approach has become a powerful tool for the gait planning and control of bipedal robots. This paper aims to extend the HZD methods to address walking, ambling and trotting behaviors on a quadrupedal robot. We…
This paper presents a state-of-the-art optimal controller for quadruped locomotion. The robot dynamics is represented using a single rigid body (SRB) model. A linear time-varying model predictive controller (LTV MPC) is proposed by using…
The optimal control of a mechanical system is of crucial importance in many realms. Typical examples are the determination of a time-minimal path in vehicle dynamics, a minimal energy trajectory in space mission design, or optimal motion…
Robotic laparoscopic grasper is a surgical tool with minimal invasion. In this robot, achieve goals like precise tracking, stability and disturbance rejection are very important. In this paper, first the stages of modeling and simulating of…
The remarkable athletic intelligence displayed by humans in complex dynamic movements such as dancing and gymnastics suggests that the balance mechanism in biological beings is decoupled from specific movement patterns. This decoupling…
Thanks to recent advancements in accelerating non-linear model predictive control (NMPC), it is now feasible to deploy whole-body NMPC at real-time rates for humanoid robots. However, enforcing inequality constraints in real time for such…
One of the most challenging issues in adaptive control of robot manipulators with kinematic uncertainties is requirement of the inverse of Jacobian matrix in regressor form. This requirement is inevitable in the case of the control of…
This paper presents a novel Representation-Free Model Predictive Control (RF-MPC) framework for controlling various dynamic motions of a quadrupedal robot in three dimensional (3D) space. Our formulation directly represents the rotational…
Safe operation of systems such as robots requires them to plan and execute trajectories subject to safety constraints. When those systems are subject to uncertainties in their dynamics, it is challenging to ensure that the constraints are…
Legged robots have shown remarkable advantages in navigating uneven terrain. However, realizing effective locomotion and manipulation tasks on quadruped robots is still challenging. In addition, object and terrain parameters are generally…
This paper contributes towards the development and comparison of Divergent-Component-of-Motion (DCM) based control architectures for humanoid robot locomotion. More precisely, we present and compare several DCM based implementations of a…
Underactuated robots are characterized by a larger number of degrees of freedom than actuators and if they are designed with a specific mass distribution, they can be controlled by means of differential flatness theory. This structural…
Solving motion tasks autonomously and accurately is a core ability for intelligent real-world systems. To achieve genuine autonomy across multiple systems and tasks, key challenges include coping with unknown dynamics and overcoming the…