相关论文: An Optimization Based Control Framework for Balanc…
In this paper, we propose a novel framework on force-and-moment-based Model Predictive Control (MPC) for dynamic legged robots. Specifically, we present a formulation of MPC designed for 10 degree-of-freedom (DoF) bipedal robots using…
Motion imitation is a pivotal and effective approach for humanoid robots to achieve a more diverse range of complex and expressive movements, making their performances more human-like. However, the significant differences in kinematics and…
Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a…
Impedance-based control represents a prevalent strategy in the powered trans femoral prostheses because of its ability to reproduce natural walking. However, most existing studies have developed impedance-based prosthesis controllers for…
Performing large step-ups is a challenging task for a humanoid robot. It requires the robot to perform motions at the limit of its reachable workspace while straining to move its body upon the obstacle. This paper presents a non-linear…
Complex robotic systems require whole-body controllers to deal with contact interactions, handle closed kinematic chains, and track task-space control objectives. However, for many applications, safety-critical controllers are important to…
Humans can balance very well during walking, even when perturbed. But it seems difficult to achieve robust walking for bipedal robots. Here we describe the simplest balance controller that leads to robust walking for a linear inverted…
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,…
When a human and a humanoid robot collaborate physically, ergonomics is a key factor to consider. Assuming a given humanoid robot, several control architectures exist nowadays to address ergonomic physical human-robot collaboration. This…
This paper presents a gait controller for bipedal robots to achieve highly agile walking over various terrains given local slope and friction cone information. Without these considerations, untimely impacts can cause a robot to trip and…
Wheeled bipedal robots have garnered increasing attention in exploration and inspection. However, most research simplifies calculations by ignoring leg dynamics, thereby restricting the robot's full motion potential. Additionally, robots…
In this paper, we describe a planner capable of generating walking trajectories by using the centroidal dynamics and the full kinematics of a humanoid robot model. The interaction between the robot and the walking surface is modeled…
Model-based controllers using a linearized model around the system's equilibrium point is a common approach in the control of a wheeled humanoid due to their less computational load and ease of stability analysis. However, controlling a…
Generating dynamic jumping motions on legged robots remains a challenging control problem as the full flight phase and large landing impact are expected. Compared to quadrupedal robots or other multi-legged robots, bipedal robots place…
Collision-free planning is essential for bipedal robots operating within unstructured environments. This paper presents a real-time Model Predictive Control (MPC) framework that addresses both body and foot avoidance for dynamic bipedal…
Humanoid robots have the potential capability to perform a diverse range of manipulation tasks, but this is based on a robust and precise standing controller. Existing methods are either ill-suited to precisely control high-dimensional…
Exoskeleton robots have become a promising tool in neurorehabilitation, offering effective physical therapy and recovery monitoring. The success of these therapies relies on precise motion control systems. Although computed torque control…
One of the essential aspects of humanoid robot running is determining the limb-swinging trajectories. During the flight phases, where the ground reaction forces are not available for regulation, the limb swinging trajectories are…
This paper proposes a novel orientation-aware model predictive control (MPC) for dynamic humanoid walking that can plan footstep locations online. Instead of a point-mass model, this work uses the augmented single rigid body model (aSRBM)…
In this paper we consider the problem of allowing a humanoid robot that is subject to a persistent disturbance, in the form of a payload-carrying task, to follow given planned footsteps. To solve this problem, we combine an online nonlinear…