Related papers: Variable Impedance Control for Floating-Base Super…
The integration of Supernumerary Limbs (SLs) on humanoid robots poses a significant stability challenge due to the dynamic perturbations they introduce. This thesis addresses this issue by designing a novel hierarchical control architecture…
This article propose a whole-body impedance coordinative control framework for a wheel-legged humanoid robot to achieve adaptability on complex terrains while maintaining robot upper body stability. The framework contains a bi-level control…
Purpose: This paper presents an impedance control method with mixed $H_2/H_\infty$ synthesis and relaxed passivity for a cable-driven series elastic actuator to be applied for physical human-robot interaction. Design/methodology/approach:…
Robotic systems operating in unstructured environments require the ability to switch between compliant and rigid states to perform diverse tasks such as adaptive grasping, high-force manipulation, shape holding, and navigation in…
Quadruped robots are designed to achieve agile and robust locomotion by drawing inspiration from legged animals. However, most existing control methods for quadruped robots lack a key capacity observed in animals: the ability to exhibit…
Supernumerary robotic limbs (SRLs) gained increasing interest in the last years for their applicability as healthcare and assistive technologies. These devices can either support or augment human sensorimotor capabilities, allowing users to…
In this paper, WALK-VIO, a novel visual-inertial odometry (VIO) with walking-motion-adaptive leg kinematic constraints that change with body motion for localization of quadruped robots, is proposed. Quadruped robots primarily use VIO…
Human motor control remains agile and robust despite limited sensory information for feedback, a property attributed to the body's ability to perform morphological computation through muscle coordination with variable impedance. However, it…
Controller design for bipedal walking on dynamic rigid surfaces (DRSes), which are rigid surfaces moving in the inertial frame (e.g., ships and airplanes), remains largely uninvestigated. This paper introduces a hierarchical control…
This manuscript presents a model of compliant contacts for time-critical humanoid robot motion control. The proposed model considers the environment as a continuum of spring-damper systems, which allows us to compute the equivalent contact…
Reinforcement learning (RL) offers a powerful approach for robots to learn complex, collaborative skills by combining Dynamic Movement Primitives (DMPs) for motion and Variable Impedance Control (VIC) for compliant interaction. However,…
Reinforcement learning (RL) has had its fair share of success in contact-rich manipulation tasks but it still lags behind in benefiting from advances in robot control theory such as impedance control and stability guarantees. Recently, the…
Robust dynamic interactions are required to move robots in daily environments alongside humans. Optimisation and learning methods have been used to mimic and reproduce human movements. However, they are often not robust and their…
Compared to traditional rigid robotics, soft robotics has attracted increasing attention due to its advantages as compliance, safety, and low cost. As an essential part of soft robotics, the soft robotic gripper also shows its superior…
This article introduces a framework for complex human-robot collaboration tasks, such as the co-manufacturing of furniture. For these tasks, it is essential to encode tasks from human demonstration and reproduce these skills in a compliant…
In this paper, we present a novel two-level variable Horizon Model Predictive Control (VH-MPC) framework for bipedal locomotion. In this framework, the higher level computes the landing location and timing (horizon length) of the swing foot…
Soft robots are compliant but often cannot support loads or hold their shape, while rigid robots provide structural strength but are less adaptable. Existing variable-stiffness systems usually operate at the scale of whole segments or…
Many manipulation tasks require robots to interact with unknown environments. In such applications, the ability to adapt the impedance according to different task phases and environment constraints is crucial for safety and performance.…
This paper proposes a new, robust method to solve the inverse kinematics (IK) of multi-segment continuum manipulators. Conventional Jacobian-based solvers, especially when initialized from neutral/rest configurations, often exhibit slow…
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)…