相关论文: Walking with Confidence: Safety Regulation for Ful…

Safe path planning is critical for bipedal robots to operate in safety-critical environments. Common path planning algorithms, such as RRT or RRT*, typically use geometric or kinematic collision check algorithms to ensure collision-free…

This paper presents a novel model-free reinforcement learning (RL) framework to design feedback control policies for 3D bipedal walking. Existing RL algorithms are often trained in an end-to-end manner or rely on prior knowledge of some…

This paper presents a framework for the safety-critical control of robotic systems, when safety is defined on safe regions in the configuration space. To maintain safety, we synthesize a safe velocity based on control barrier function…

Safety assurance is critical in the planning and control of robotic systems. For robots operating in the real world, the safety-critical design often needs to explicitly address uncertainties and the pre-computed guarantees often rely on…

In dynamic environments, robots often encounter constrained movement trajectories when manipulating objects with specific properties, such as doors. Therefore, applying the appropriate force is crucial to prevent damage to both the robots…

Autonomous robots deployed in shared human environments, such as agricultural settings, require rigorous safety assurance to meet both functional reliability and regulatory compliance. These systems must operate in dynamic, unstructured…

Building trajectories for biped robot walking is a complex task considering all degrees of freedom (DOFs) commonly bound within the mechanical structure. A typical problem for such robots is the instability produced by violent transitions…

In this paper, we address the risk estimation problem where one aims at estimating the probability of violation of safety constraints for a robot in the presence of bounded uncertainties with arbitrary probability distributions. In this…

Ensuring safety for autonomous robots operating in dynamic environments can be challenging due to factors such as unmodeled dynamics, noisy sensor measurements, and partial observability. To account for these limitations, it is common to…

This work presents a sum-of-squares (SOS) based framework to perform data-driven stabilization and robust control tasks on discrete-time linear systems where the full-state observations are corrupted by L-infinity bounded input,…

This work presents algorithms for the feedback-stabilised walking of bipedal humanoid robotic platforms, along with the underlying theoretical and sensorimotor frameworks required to achieve it. Bipedal walking is inherently complex and…

This study presents an innovative approach to optimal gait control for a soft quadruped robot enabled by four Compressible Tendon-driven Soft Actuators (CTSAs). Improving our previous studies of using model-free reinforcement learning for…

We have recently used a symbolic reachability method for controlling the stability of special hybrid systems called 'sampled switched systems'. We show here how the method can be extended in order to control the stability of more general…

Rigid-bodied robots often lack compliance needed to adapt to unstructured environments, while fully soft robots, though highly adaptable, struggle with scalability and load capacity. In nature, musculoskeletal systems balance strength and…

Tolerance estimation problems are prevailing in engineering applications. For example, in modern robotics, it remains challenging to efficiently estimate joint tolerance, \ie the maximal allowable deviation from a reference robot state such…

Generating stable walking gaits that yield natural locomotion when executed on robotic-assistive devices is a challenging task that often requires hand-tuning by domain experts. This paper presents an alternative methodology, where we…

This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…

We present a tool-supported approach for the synthesis, verification and validation of the control software responsible for the safety of the human-robot interaction in manufacturing processes that use collaborative robots. In human-robot…

This paper proposes a safety-critical locomotion control framework employed for legged robots exploring through infeasible path in obstacle-rich environments. Our research focus is on achieving safe and robust locomotion where robots…

This work proposes a safety-critical local reactive controller that enables the robot to navigate in unknown and cluttered environments. In particular, the trajectory tracking task is formulated as a constrained polynomial optimization…