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Envisioned applications for humanoid robots call for the design of balancing and walking controllers. While promising results have been recently achieved, robust and reliable controllers are still a challenge for the control community…
In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully…
Despite strong multi-task pretraining, existing policies often exhibit poor task steerability. For example, a robot may fail to respond to a new instruction ``put the bowl in the sink" when moving towards the oven, executing ``close the…
The accurate characterization of tire dynamics is critical for advancing control strategies in autonomous road vehicles, as tire behavior significantly influences handling and stability through the generation of forces and moments at the…
This paper presents a control methodology for achieving orbital stabilization with simultaneous time synchronization of periodic trajectories in underactuated robotic systems. The proposed approach extends the classical transverse…
This paper studies jumping for wheeled-bipedal robots, a motion that takes full advantage of the benefits from the hybrid wheeled and legged design features. A comprehensive hierarchical scheme for motion planning and control of jumping…
As a model is only an abstraction of the real system, unmodeled dynamics, parameter variations, and disturbances can result in poor performance of a conventional controller based on this model. In such cases, a conventional controller…
Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a…
Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…
Learning from Demonstration (LfD) has emerged as a crucial method for robots to acquire new skills. However, when given suboptimal task trajectory demonstrations with shape characteristics reflecting human preferences but subpar dynamic…
The deformable and continuum nature of soft robots promises versatility and adaptability. However, control of modular, multi-limbed soft robots for terrestrial locomotion is challenging due to the complex robot structure, actuator mechanics…
In this paper an artificial delay based impedance controller is proposed for robotic manipulators with uncertainty in dynamics. The control law unites the time delayed estimation (TDE) framework with a second order switching controller of…
Symmetry is a fundamental aspect of many real-world robotic tasks. However, current deep reinforcement learning (DRL) approaches can seldom harness and exploit symmetry effectively. Often, the learned behaviors fail to achieve the desired…
In this paper, we present an energy-conservation based control architecture for stable dynamic motion in quadruped robots. We model the robot as a Spring-loaded Inverted Pendulum (SLIP), a model well-suited to represent the bouncing motion…
Sprawling locomotion in vertebrates, particularly salamanders, demonstrates how body undulation and spinal mobility enhance stability, maneuverability, and adaptability across complex terrains. While prior work has separately explored…
Crawling is a common locomotion mechanism in soft robots and nonskeletal animals. In this work we propose modeling soft-robotic legged locomotion by approximating it with an equivalent articulated robot with elastic joints. For concreteness…
Legged locomotion shows promise for running in complex, unstructured environments. Designing such legged robots requires considering heterogeneous, multi-domain constraints and variables, from mechanical hardware and geometry choices to…
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…
This paper proposes a control solution to achieve collision-free platooning control of input-constrained mobile robots. The platooning policy is based on a leader-follower approach where the leader tracks a reference trajectory while…
Spring-mass models are well established tools for the analysis and control of legged locomotion. Among the alternatives, spring-loaded inverted pendulum (SLIP) model has shown to be a very accurate descriptor of animal locomotion. Despite…