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Repetitive motion tasks are common in robotics, but performance can degrade over time due to environmental changes and robot wear and tear. Iterative learning control (ILC) improves performance by using information from previous iterations…
Ensuring constraint satisfaction is a key requirement for safety-critical systems, which include most robotic platforms. For example, constraints can be used for modeling joint position/velocity/torque limits and collision avoidance.…
This paper presents a system for enabling real-time synthesis of whole-body locomotion and manipulation policies for real-world legged robots. Motivated by recent advancements in robot simulation, we leverage the efficient parallelization…
This paper presents the development and implementation of a Model Predictive Control (MPC) framework for trajectory tracking in autonomous vehicles under diverse driving conditions. The proposed approach incorporates a modular architecture…
Parallel-elastic joints can improve the efficiency and strength of robots by assisting the actuators with additional torques. For these benefits to be realized, a spring needs to be carefully designed. However, designing robots is an…
Iterative linear quadratic regulator (iLQR) has gained wide popularity in addressing trajectory optimization problems with nonlinear system models. However, as a model-based shooting method, it relies heavily on an accurate system model to…
Learning-based control methods are an attractive approach for addressing performance and efficiency challenges in robotics and automation systems. One such technique that has found application in these domains is learning-based model…
This letter presents a new predictive control architecture for high-dimensional robotic systems. As opposed to a conventional Model Predictive Control (MPC) approach to locomotion that formulates a hierarchical sequence of optimization…
While Model Predictive Control (MPC) delivers strong performance across robotics applications, solving the underlying (batches of) nonlinear trajectory optimization (TO) problems online remains computationally demanding. Existing…
We present a model-predictive control (MPC) framework for legged robots that avoids the singularities associated with common three-parameter attitude representations like Euler angles during large-angle rotations. Our method parameterizes…
This tutorial provides a systematic introduction to Gaussian process learning-based model predictive control (GP-MPC), an advanced approach integrating Gaussian process (GP) with model predictive control (MPC) for enhanced control in…
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…
We present a massively parallel Lagrange decomposition method for solving 0--1 integer linear programs occurring in structured prediction. We propose a new iterative update scheme for solving the Lagrangean dual and a perturbation technique…
Legged robots can traverse challenging terrain, use perception to plan their safe foothold positions, and navigate the environment. Such unique mobility capabilities make these platforms a perfect candidate for scenarios such as search and…
Sampling-based model-predictive control (MPC) is a promising tool for feedback control of robots with complex, non-smooth dynamics, and cost functions. However, the computationally demanding nature of sampling-based MPC algorithms has been…
Motion planning is a fundamental problem in robotics that involves generating feasible trajectories for a robot to follow. Recent advances in parallel computing, particularly through CPU and GPU architectures, have significantly reduced…
A comprehensive approach addressing identification and control for learningbased Model Predictive Control (MPC) for linear systems is presented. The design technique yields a data-driven MPC law, based on a dataset collected from the…
We present GPU-SLS, a GPU-parallelized framework for safe, robust nonlinear model predictive control (MPC) that scales to high-dimensional uncertain robotic systems and long planning horizons. Our method jointly optimizes an…
Model predictive control (MPC) has established itself as the primary methodology for constrained control, enabling general-purpose robot autonomy in diverse real-world scenarios. However, for most problems of interest, MPC relies on the…
This paper proposes a novel real-time affordable solution to the trajectory tracking control problem for self-driving cars subject to longitudinal and steering angular velocity constraints. To this end, we develop a dual-mode Model…