相关论文: Evolution of Biped Walking Using Neural Oscillator…

In this paper, an adaptive control scheme based on using neural networks is designed to guarantee the desired behavior of a micro-robot which is equipped with vibrating actuators and follows the principle of slip-stick movement. There are…

Foot slip is a major source of instability in bipedal locomotion on low-friction or uncertain terrain. Standard control approaches typically assume no-slip contact and therefore degrade when slip occurs. We propose a control framework that…

Cost functions have the potential to provide compact and understandable generalizations of motion. The goal of Inverse Optimal Control (IOC) is to analyze an observed behavior which is assumed to be optimal with respect to an unknown cost…

This work presents an extended framework for learning-based bipedal locomotion that incorporates a heuristic step-planning strategy guided by desired torso velocity tracking. The framework enables precise interaction between a humanoid…

Haptic upper limb exoskeletons are robots that assist human operators during task execution while having the ability to render virtual or remote environments. Therefore, the stability of such robots in physical human-robot-environment…

Dynamic bipedal robot locomotion has achieved remarkable success due in part to recent advances in trajectory generation and nonlinear control for stabilization. A key assumption utilized in both theory and experiments is that the robot's…

For the deployment of legged robots in real-world environments, it is essential to develop robust locomotion control methods for challenging terrains that may exhibit unexpected deformability and irregularity. In this paper, we explore the…

A common approach to the generation of walking patterns for humanoid robots consists in adopting a layered control architecture. This paper proposes an architecture composed of three nested control loops. The outer loop exploits a robot…

In this paper, we will report our efforts in designing closed-loop feedback for the thruster-assisted walking of bipedal robots. We will assume for well-tuned supervisory controllers and will focus on fine-tuning the joints desired…

Recent advances in deep reinforcement learning (RL) based techniques combined with training in simulation have offered a new approach to developing robust controllers for legged robots. However, the application of such approaches to real…

This paper applies a recently developed geometric PID controller to stabilize a three-link planar bipedal hybrid dynamic walking model. The three links represent the robot torso and two kneeless legs, with an independent control torque…

The importance of humanoid robots in today's world is undeniable, one of the most important features of humanoid robots is the ability to maneuver in environments such as stairs that other robots can not easily cross. A suitable algorithm…

Push recovery during locomotion will facilitate the deployment of humanoid robots in human-centered environments. In this paper, we present a unified framework for walking control and push recovery for humanoid robots, leveraging the arms…

In recent years, the numbers of life-size humanoids as well as their mobile capabilities have steadily grown. Stable walking motion and control for humanoid robots are active fields of research. In this scenario an open question is how to…

Biped robots are inherently unstable because of their complex kinematics as well as dynamics. Despite the many research efforts in developing biped locomotion, the performance of biped locomotion is still far from the expectations. This…

Over the years, the separate fields of motion planning, mapping, and human trajectory prediction have advanced considerably. However, the literature is still sparse in providing practical frameworks that enable mobile manipulators to…

The field of physical human-robot interaction has dramatically evolved in the last decades. As a result, the robotic system's requirements have become more challenging, including personalized behavior for different tasks and users. Various…

In this paper, an adaptive backstepping controller has been tuned to synchronize two chaotic Colpitts oscillators in a master slave configuration. The parameters of the controller are determined using shark smell optimization (SSO)…

Entrainment of movement to a periodic stimulus is a characteristic intelligent behaviour in humans and an important goal for adaptive robotics. We demonstrate a quadruped central pattern generator (CPG), consisting of modified Matsuoka…

Global position control for underactuated bipedal walking is a challenging problem due to the lack of actuation on the feet of the robots. In this paper, we apply the Hybrid-Linear Inverted Pendulum (H-LIP) based stepping on 3D…