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Model predictive control (MPC) has shown great success for controlling complex systems such as legged robots. However, when closing the loop, the performance and feasibility of the finite horizon optimal control problem (OCP) solved at each…

This paper evaluates the capabilities of a soft robotic pneumatic actuator derived from the terrain display haptic device, "The Smart Shoe." The bladder design of the Smart Shoe is upgraded to include a pressure supply and greater output…

Despite the extensive presence of the legged locomotion in animals, it is extremely challenging to be reproduced with robots. Legged locomotion is an dynamic task which benefits from a planning that takes advantage of the gravitational pull…

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…

Artificial time delay controller was conceptualised for nonlinear systems to reduce dependency on precise system modelling unlike the conventional adaptive and robust control strategies. In this approach unknown dynamics is compensated by…

Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical reality. This is due to continued progress in three key areas: a mathematical understanding of locomotion, the computational ability to encode this…

This study proposes a hierarchically integrated framework for safe task and motion planning (TAMP) of bipedal locomotion in a partially observable environment with dynamic obstacles and uneven terrain. The high-level task planner employs…

The transport of a walker in rocking feedback-controlled ratchets are investigated. The walker consists of two coupled "feet" that allow the interchange of the order of the particles while the walker moves. In the underdamped case, the…

Available possibilities to prevent a biped robot from falling down in the presence of severe disturbances are mainly Center of Pressure (CoP) modulation, step location and timing adjustment, and angular momentum regulation. In this paper,…

Human beings can utilize multiple balance strategies, e.g. step location adjustment and angular momentum adaptation, to maintain balance when walking under dynamic disturbances. In this work, we propose a novel Nonlinear Model Predictive…

In this work we study the assisted translocation of a polymer across a membrane nanopore, inside which a molecular motor exerts a force fuelled by the hydrolysis of ATP molecules. In our model the motor switches to its active state for a…

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…

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…

This letter proposes a method to integrate auxiliary actuators that enhance the task space capabilities of commercial underactuated systems, leaving the internal certified low level controller untouched. The additional actuators are…

Although the application of Series elastic actuators (SEAs) in the biomechatronic field has proved its appropriation in many aspects so far, the problems of maintaining the stability for the SEAs still remains. This paper proposes a robust…

Interactive navigation is crucial in scenarios where proactively interacting with objects can yield shorter paths, thus significantly improving traversal efficiency. Existing methods primarily focus on using the robot body to relocate large…

Principle Equation of Motion (for walkers) is derived that later results in introducing two piecewise-continuous dynamical systems namely Simplified Walking Model (SWM) and Complete Walking Model (CWM) which both describe the behavior of…

Learning a locomotion controller for a musculoskeletal system is challenging due to over-actuation and high-dimensional action space. While many reinforcement learning methods attempt to address this issue, they often struggle to learn…

This paper focuses on the issue of how to realize spacecraft attitude control with guaranteed performance while conspicuously reducing the actuator acting frequency simultaneously. The prescribed performance control (PPC) scheme is often…

This paper presents an aggressive trajectory tracking method for a small lightweight nano-quadrotor using nonlinear model predictive control (NMPC) based on acados. Controlling a nano quadrotor for accurate trajectory tracking at high speed…