相关论文: Orbit Characterization, Stabilization and Composit…
The 3rd AI Olympics with RealAIGym competition poses the challenge of developing a global policy that can swing up and stabilize an underactuated 2-link system Acrobot and/or Pendubot from any configuration in the state space. This paper…
Stabilization of a nonlinear single stage inverted pendulum is a complicated control problem, as nonlinearity is present inherently and external factors affect the equilibrium position. In this paper, a PD sliding mode controller is…
Wing-assisted inclined running (WAIR) observed in some young birds, is an attractive maneuver that can be extended to legged aerial systems. This study proposes a control method using a modified Variable Length Inverted Pendulum (VLIP) by…
LIPM is everywhere in legged-locomotion control, but almost always as a modeling choice rather than as something the controller's cost actually prefers. This note tries to make that link more explicit. Working from a small centroidal OCP…
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…
Poincare return maps are a fundamental tool for analyzing periodic orbits in hybrid dynamical systems, including legged locomotion, power electronics, and other cyber-physical systems with switching behavior. The Poincare return map…
We introduce HCLM, a hierarchical framework for general-purpose cooperative loco-manipulation with dual quadrupedal systems. Coordinating multi-robot collaborative manipulation across floating bases is highly challenging due to the…
In this paper, we present a novel two-level variable Horizon Model Predictive Control (VH-MPC) framework for bipedal locomotion. In this framework, the higher level computes the landing location and timing (horizon length) of the swing foot…
The integration of Supernumerary Limbs (SLs) on humanoid robots poses a significant stability challenge due to the dynamic perturbations they introduce. This thesis addresses this issue by designing a novel hierarchical control architecture…
As the global population ages, effective rehabilitation and mobility aids will become increasingly critical. Gait assistive robots are promising solutions, but designing adaptable controllers for various impairments poses a significant…
Hyper-redundant robots offer high dexterity, making them good at operating in confined and unstructured environments. To extend the reachable workspace, we built a multi-segment flexible rack actuated planar robot. However, the compliance…
Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…
This paper presents VIMPPI, a novel control approach for underactuated double pendulum systems developed for the AI Olympics competition. We enhance the Model Predictive Path Integral framework by incorporating variational integration…
Step adjustment can improve the gait robustness of biped robots, however the adaptation of step timing is often neglected as it gives rise to non-convex problems when optimized over several footsteps. In this paper, we argue that it is not…
This study investigates the performance of cascade PID control architecture applied to an inverted pendulum on a cart system through both simulation and experimental implementation. A nonlinear model of the system was developed using…
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…
We propose a method to generate actuation plans for a reduced order, dynamic model of bipedal running. This method explicitly enforces robustness to ground uncertainty. The plan generated is not a fixed body trajectory that is aggressively…
In this work, we propose a learning approach for 3D dynamic bipedal walking when footsteps are constrained to stepping stones. While recent work has shown progress on this problem, real-world demonstrations have been limited to relatively…
Complexity and nonlinear behaviours of inverted pendulum system make its control design a very challenging task. In this paper, a hybrid fuzzy adaptive control system using model reference approach is designed for inverted-pendulum system…
Bipedal robots adapt to the environment of the modern society due to the similarity of movement to humans, and therefore they are a good partner for humans. However, maintaining the stability of these robots during walking/running motion is…