Related papers: Benchmarking Different QP Formulations and Solvers…
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…
Rapid advances in quantum computing technology lead to an increasing need for software simulators that enable both algorithm design and the validation of results obtained from quantum hardware. This includes calculations that aim at probing…
This paper demonstrates the applicability of the Quantum Walk-based Optimisation Algorithm(QWOA) to the Capacitated Vehicle Routing Problem (CVRP). Efficient algorithms are developedfor the indexing and unindexing of the solution space and…
Quantum walks are widely and successfully used to model diverse physical processes. This leads to computation of the models, to explore their properties. Quantum walks have also been shown to be universal for quantum computing. This is a…
Pre-defined manipulation primitives are widely used for cloth manipulation. However, cloth properties such as its stiffness or density can highly impact the performance of these primitives. Although existing solutions have tackled the…
Heterogeneous HPC workflow scheduling under multiple hard constraints poses a challenging combinatorial optimization problem. Classical exact solvers guarantee optimality but face scalability limits, motivating interest in quantum-inspired…
In this paper, we present a cascade control structure to address the trajectory tracking problem for quadcopters, ensuring uniform global asymptotic stability of the state tracking error dynamics. An MPC strategy based on a 12-dimensional…
The robust balancing capability of humanoids is essential for mobility in real environments. Many studies focus on implementing human-inspired ankle, hip, and stepping strategies to achieve human-level balance. In this paper, a robust…
Torque control algorithms which consider robot dynamics and contact constraints are important for creating dynamic behaviors for humanoids. As computational power increases, algorithms tend to also increase in complexity. However, it is not…
This paper presents a motion planning algorithm for quadruped locomotion based on density functions. We decompose the locomotion problem into a high-level density planner and a model predictive controller (MPC). Due to density functions…
In this paper, we present an efficient Dynamic Programing framework for optimal planning and control of legged robots. First we formulate this problem as an optimal control problem for switched systems. Then we propose a multi--level…
We present benchmarking results for the non-variational Quantum Walk Optimisation Algorithm (non-variational QWOA) applied to the weighted maxcut problem, using classical simulations for problem sizes up to $n = 31$. The amplified quantum…
We propose a quantum-assisted framework for solving constrained finite-horizon nonlinear optimal control problems using a barrier Sequential Quadratic Programming (SQP) approach. Within this framework, a quantum subroutine is incorporated…
The rapidly advancing fields of statistical modeling and machine learning have significantly enhanced data-driven design and optimization. This paper focuses on leveraging these design algorithms to optimize a medical walker, an integral…
This paper studies the experimental comparison of two different whole-body control formulations for humanoid robots: inverse dynamics whole-body control (ID-WBC) and passivity-based whole-body control (PB-WBC). The two controllers…
Quantum computation using continuous-time evolution under a natural hardware Hamiltonian is a promising near- and mid-term direction toward powerful quantum computing hardware. We investigate the performance of continuous-time quantum walks…
In this letter, we formulate a novel Markov Decision Process (MDP) for safe and data-efficient learning for humanoid locomotion aided by a dynamic balancing model. In our previous studies of biped locomotion, we relied on a low-dimensional…
Heterogeneous computing can potentially offer significant performance and performance per watt improvements over homogeneous computing, but the question "what is the ideal mapping of algorithms to architectures?" remains an open one. In the…
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…
Motion planning in multi-contact scenarios has recently gathered interest within the legged robotics community, however actuator force/torque limits are rarely considered. We believe that these limits gain paramount importance when the…