Related papers: Humanoid Loco-Manipulations Pattern Generation and…
The motion control of wheeled mobile robots at high speeds under adverse ground conditions is a difficult task, since the robots' wheels may be subject to different kinds of slip. This work introduces an adaptive kinematic controller that…
In this chapter we will highlight our experimental studies on natural human walking analysis and introduce a biologically inspired design for simple bipedal locomotion system of humanoid robots. Inspiration comes directly from human walking…
We present a stepping stabilization control that addresses external push disturbances on bipedal walking robots. The stepping control is synthesized based on the step-to-step (S2S) dynamics of the robot that is controlled to have an…
This paper presents an online walking synthesis methodology to enable dynamic and stable walking on constrained footholds for underactuated bipedal robots. Our approach modulates the change of angular momentum about the foot-ground contact…
Robust bipedal locomotion in exoskeletons requires the ability to dynamically react to changes in the environment in real time. This paper introduces the hybrid data-driven predictive control (HDDPC) framework, an extension of the…
This paper introduces a new approach to enhance the robustness of humanoid walking under strong perturbations, such as substantial pushes. Effective recovery from external disturbances requires bipedal robots to dynamically adjust their…
Humanoid robots have great potential for real-world applications due to their ability to operate in environments built for humans, but their deployment is hindered by the challenge of controlling their underlying high-dimensional nonlinear…
Despite decades of study, many unknowns exist about the mechanisms governing human locomotion. Current models and motor control theories can only partially capture the phenomenon. This may be a major cause of the reduced efficacy of lower…
The present research as described in this paper tries to impart how imitation based learning for behavior-based programming can be used to teach the robot. This development is a big step in way to prove that push recovery is a software…
This study proposes a step adaptation framework for running through spring-mass trajectories and deadbeat control gain libraries. It includes four main parts: (1) Automatic spring-mass trajectory library generation; (2) Deadbeat control…
This paper presents a novel approach that combines the advantages of both model-based and learning-based frameworks to achieve robust locomotion. The residual modules are integrated with each corresponding part of the model-based framework,…
Robust and energy-efficient bipedal locomotion in robotics is still a challenging topic. In order to address issues in this field, we can take inspiration from nature, by studying human locomotion. The Spring-Loaded Inverted Pendulum (SLIP)…
Demonstrating acrobatic behavior of a humanoid robot such as flips and spinning jumps requires systematic approaches across hardware design, motion planning, and control. In this paper, we present a new humanoid robot design, an…
In this letter, we propose a whole-body control strategy for humanoid robots in multi-contact settings that enables switching between fixed and sliding contacts under active balance. We compute, in real-time, a safe center-of-mass position…
Generation of robust trajectories for legged robots remains a challenging task due to the underlying nonlinear, hybrid and intrinsically unstable dynamics which needs to be stabilized through limited contact forces. Furthermore,…
Automatic fall recovery is a crucial prerequisite before humanoid robots can be reliably deployed. Hand-designing controllers for getting up is difficult because of the varied configurations a humanoid can end up in after a fall and the…
Can we enable humanoid robots to generate rich, diverse, and expressive motions in the real world? We propose to learn a whole-body control policy on a human-sized robot to mimic human motions as realistic as possible. To train such a…
Recent years have seen a surge in commercially-available and affordable quadrupedal robots, with many of these platforms being actively used in research and industry. As the availability of legged robots grows, so does the need for…
This paper presents a real-time gait driven training framework for humanoid robots. First, we introduce a novel gait planner that incorporates dynamics to design the desired joint trajectory. In the gait design process, the 3D robot model…
Underactuation is ubiquitous in human locomotion and should be ubiquitous in bipedal robotic locomotion as well. This chapter presents a coherent theory for the design of feedback controllers that achieve stable walking gaits in…