相关论文: Automatic Snake Gait Generation Using Model Predic…

Motion behaviour is driven by several factors -- goals, presence and actions of neighbouring agents, social relations, physical and social norms, the environment with its variable characteristics, and further. Most factors are not directly…

Evolutionary methods have previously been shown to be an effective learning method for walking gaits on hexapod robots. However, the ability of these algorithms to evolve an effective policy rapidly degrades as the input space becomes more…

Soft robotics aims to develop robots able to adapt their behavior across a wide range of unstructured and unknown environments. A critical challenge of soft robotic control is that nonlinear dynamics often result in complex behaviors hard…

Quadruped locomotion is rapidly maturing to a degree where robots are able to realise highly dynamic manoeuvres. However, current planners are unable to vary key gait parameters of the in-swing feet midair. In this work we address this…

This paper proposes a novel trajectory generation method based on Model Predictive Control (MPC) for agile landing of an Unmanned Aerial Vehicle (UAV) onto an Unmanned Surface Vehicle (USV)'s deck in harsh conditions. The trajectory…

Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…

Which kind of complex behavior may arise from self-organizing principles? We investigate this question for the case of snake-like robots composed of passively coupled segments, with every segment containing two wheels actuated separately by…

With the growth of the construction industry and the global shortage of skilled labor, the automation of crane control has become increasingly important for safe and efficient operations. A central challenge in automatic crane control is…

Accurately predicting pedestrian trajectories is crucial in applications such as autonomous driving or service robotics, to name a few. Deep generative models achieve top performance in this task, assuming enough labelled trajectories are…

Flying animals, such as bats, fly through their fluidic environment as they create air jets and form wake structures downstream of their flight path. Bats, in particular, dynamically morph their highly flexible and dexterous armwing to…

Planning and execution of agile locomotion maneuvers have been a longstanding challenge in legged robotics. It requires to derive motion plans and local feedback policies in real-time to handle the nonholonomy of the kinetic momenta. To…

The paper presents a planner to generate walking trajectories by using the centroidal dynamics and the full kinematics of a humanoid robot. The interaction between the robot and the walking surface is modeled explicitly via new conditions,…

We present a generative predictive control (GPC) framework that amortizes sampling-based Model Predictive Control (SPC) by bootstrapping it with conditional flow-matching models trained on SPC control sequences collected in simulation.…

Generative control policies have recently unlocked major progress in robotics. These methods produce action sequences via diffusion or flow matching, with training data provided by demonstrations. But existing methods come with two key…

Legged robots offer several advantages when navigating unstructured environments, but they often fall short of the efficiency achieved by wheeled robots. One promising strategy to improve their energy economy is to leverage their natural…

Performing highly agile dynamic motions, such as jumping or running on uneven stepping stones has remained a challenging problem in legged robot locomotion. This paper presents a framework that combines trajectory optimization and model…

Soft robots have the potential to interact with sensitive environments and perform complex tasks effectively. However, motion plans and trajectories for soft manipulators are challenging to calculate due to their deformable nature and…

In reinforcement learning for legged robot locomotion, crafting effective reward strategies is crucial. Pre-defined gait patterns and complex reward systems are widely used to stabilize policy training. Drawing from the natural locomotion…

Human-motion generation is a long-standing challenging task due to the requirement of accurately modeling complex and diverse dynamic patterns. Most existing methods adopt sequence models such as RNN to directly model transitions in the…

Understanding human motion behavior is critical for autonomous moving platforms (like self-driving cars and social robots) if they are to navigate human-centric environments. This is challenging because human motion is inherently…