相关论文: Rapid Trajectory Optimization Using C-FROST with I…
Performing trajectory design for humanoid robots with high degrees of freedom is computationally challenging. The trajectory design process also often involves carefully selecting various hyperparameters and requires a good initial guess…
In this paper, we explore the space of running gaits for the bipedal robot Cassie. Our first contribution is to present an approach for optimizing gait efficiency across a spectrum of speeds with the aim of enabling extremely high-speed…
Reduced-order models (ROM) are popular in online motion planning due to their simplicity. A good ROM for control captures critical task-relevant aspects of the full dynamics while remaining low dimensional. However, planning within the…
Walking controllers often require parametrization which must be tuned according to some cost function. To estimate these parameters, simulations can be performed which are cheap but do not fully represent reality. Real-robot experiments, on…
Practical bipedal robot locomotion needs to be both energy efficient and robust to variability and uncertainty. In this paper, we build upon recent works in trajectory optimization for robot locomotion with two primary goals. First, we wish…
This work explores an innovative algorithm designed to enhance the mobility of underactuated bipedal robots across challenging terrains, especially when navigating through spaces with constrained opportunities for foot support, like steps…
Trajectory simplification is a problem encountered in areas like Robot programming by demonstration, CAD/CAM, computer vision, and in GPS-based applications like traffic analysis. This problem entails reduction of the points in a given…
In trying to build humanoid robots that perform useful tasks in a world built for humans, we address the problem of autonomous locomotion. Humanoid robot planning and control algorithms for walking over rough terrain are becoming…
Real-time constraint satisfaction for robots can be quite challenging due to the high computational complexity that arises when accounting for the system dynamics and environmental interactions, often requiring simplification in modelling…
The control of bipedal robotic walking remains a challenging problem in the domains of computation and experiment, due to the multi-body dynamics and various sources of uncertainty. In recent years, there has been a rising trend towards…
Several recently released humanoid robots, inspired by the mechanical design of Cassie, employ actuator configurations in which the motors are displaced from the joints to reduce leg inertia. While studies accounting for the full kinematic…
We present RoMoCo, an open-source C++ toolbox for the synthesis and evaluation of reduced-order model-based planners and whole-body controllers for bipedal and humanoid robots. RoMoCo's modular architecture unifies state-of-the-art planners…
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…
Direct collocation methods are powerful tools to solve trajectory optimization problems in robotics. While their resulting trajectories tend to be dynamically accurate, they may also present large kinematic errors in the case of constrained…
The Cassie bipedal robot designed by Agility Robotics is providing academics a common platform for sharing and comparing algorithms for locomotion, perception, and navigation. This paper focuses on feedback control for standing and walking…
Trajectory optimization (TO) is one of the most powerful tools for generating feasible motions for humanoid robots. However, including uncertainties and stochasticity in the TO problem to generate robust motions can easily lead to an…
This paper presents the design and validation of controlling hopping on the 3D bipedal robot Cassie. A spring-mass model is identified from the kinematics and compliance of the robot. The spring stiffness and damping are encapsulated by the…
In this paper, we present STRIDE, a Simple, Terrestrial, Reconfigurable, Intelligent, Dynamic, and Educational bipedal platform. STRIDE aims to propel bipedal robotics research and education by providing a cost-effective implementation with…
Legged robotic systems can play an important role in real-world applications due to their superior load-bearing capabilities, enhanced autonomy, and effective navigation on uneven terrain. They offer an optimal trade-off between mobility…
Trajectory optimization is an essential tool for generating efficient, dynamically consistent gaits in legged locomotion. This paper explores the indirect method of trajectory optimization, emphasizing its application in creating optimal…