Related papers: Centroidal Trajectory Generation and Stabilization…
Simplified models of the dynamics such as the linear inverted pendulum model (LIPM) have proven to perform well for biped walking on flat ground. However, for more complex tasks the assumptions of these models can become limiting. For…
This paper presents a novel online framework for safe crowd-robot interaction based on risk-sensitive stochastic optimal control, wherein the risk is modeled by the entropic risk measure. The sampling-based model predictive control relies…
Prediction of human motions is key for safe navigation of autonomous robots among humans. In cluttered environments, several motion hypotheses may exist for a pedestrian, due to its interactions with the environment and other pedestrians.…
In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics and constraints of the contact-constrained robot are…
Human motion prediction is an essential part for human-robot collaboration. Unlike most of the existing methods mainly focusing on improving the effectiveness of spatiotemporal modeling for accurate prediction, we take effectiveness and…
Accurate trajectory prediction of nearby vehicles is crucial for the safe motion planning of automated vehicles in dynamic driving scenarios such as highway merging. Existing methods cannot initiate prediction for a vehicle unless observed…
One of the essential aspects of humanoid robot running is determining the limb-swinging trajectories. During the flight phases, where the ground reaction forces are not available for regulation, the limb swinging trajectories are…
In this study, we present a novel method for enhancing the computational efficiency of whole-body control for humanoid robots, a challenge accentuated by their high degrees of freedom. The reduced-dimension rigid body dynamics of a floating…
When a big and heavy robot moves, it exerts large forces on the environment and on its own structure, its angular momentum can varysubstantially, and even the robot's structure can deform if there is a mechanical weakness. Under these…
This paper presents an integrated model-based framework for generating and executing dynamic whole-body dance motions on humanoid robots. The framework operates in two stages: offline motion generation and online motion execution, both…
Predicting the motion of surrounding vehicles is essential for autonomous vehicles, as it governs their own motion plan. Current state-of-the-art vehicle prediction models heavily rely on map information. In reality, however, this…
Formation control of multiple groups of agents finds application in large area navigation by generating different geometric patterns and shapes, and also in carrying large objects. In this paper, Centroid Based Transformation (CBT)…
Our paper proposes a model predictive controller as a single-task formulation that simultaneously optimizes wheel and torso motions. This online joint velocity and ground reaction force optimization integrates a kinodynamic model of a…
Enforcing balance of multi-limbed robots in multiple non-coplanar unilateral contact settings is challenging when a subset of such contacts are also induced in motion tasks. The first contribution of this paper is in enhancing the…
Physical human-robot interaction can improve human ergonomics, task efficiency, and the flexibility of automation, but often requires application-specific methods to detect human state and determine robot response. At the same time, many…
In this letter, we present a versatile hierarchical offline planning algorithm, along with an online control pipeline for agile quadrupedal locomotion. Our offline planner alternates between optimizing centroidal dynamics for a…
Many approaches to multi-robot coordination are susceptible to failure due to communication loss and uncertainty in estimation. We present a real-time communication-free distributed navigation algorithm certified by control barrier…
Multi robot systems have the potential to be utilized in a variety of applications. In most of the previous works, the trajectory generation for multi robot systems is implemented in known environments. To overcome that we present an online…
The hybrid nature of multi-contact robotic systems, due to making and breaking contact with the environment, creates significant challenges for high-quality control. Existing model-based methods typically rely on either good prior knowledge…
Different geometric patterns and shapes are generated using groups of agents, and this needs formation control. In this paper, Centroid Based Transformation (CBT), has been applied to decompose the combined dynamics of nonholonomic Wheeled…