相关论文: 0-Step Capturability, Motion Decomposition and Glo…

For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop. However, robust visual servoing is challenging as it requires reliable feature extraction from the image,…

In multi-view human body capture systems, the recovered 3D geometry or even the acquired imagery data can be heavily corrupted due to occlusions, noise, limited field of- view, etc. Direct estimation of 3D pose, body shape or motion on…

A safety-critical measure of legged locomotion performance is a robot's ability to track its desired time-varying position trajectory in an environment, which is herein termed as "global-position tracking". This paper introduces a nonlinear…

We propose a hybrid formulation of the linear inverted pendulum model for bipedal locomotion, where the foot switches are triggered based on the center of mass position, removing the need for pre-defined footstep timings. Using a concept…

This paper mainly studies the accurate height jumping control of wheeled-bipedal robots based on torque planning and energy consumption optimization. Due to the characteristics of underactuated, nonlinear estimation, and instantaneous…

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…

Trajectory optimization is the core of modern model-based robotic control and motion planning. Existing trajectory optimizers, based on sequential quadratic programming (SQP) or differential dynamic programming (DDP), are often limited by…

Achieving diverse and stable dexterous grasping for general and deformable objects remains a fundamental challenge in robotics, due to high-dimensional action spaces and uncertainty in perception. In this paper, we present D3Grasp, a…

The problem of vibration suppression in helicopter rotors is the main topic of this paper. We revisit a strategy for the stabilization of such systems based on delayed feedback. By means of an improved analysis, made possible by recently…

High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to achieve high-dynamic and explosive jumping. This paper…

In this paper, we present an energy-conservation based control architecture for stable dynamic motion in quadruped robots. We model the robot as a Spring-loaded Inverted Pendulum (SLIP), a model well-suited to represent the bouncing motion…

The objective of this work is to enable manipulation tasks with respect to the 6D pose of a dynamically moving object using a camera mounted on a robot. Examples include maintaining a constant relative 6D pose of the robot arm with respect…

In bipedal gait design literature, one of the common ways of generating stable 3D walking gait is by designing the frontal and sagittal controllers as decoupled dynamics. The study of the decoupled frontal dynamics is, however, still…

An efficient and accurate computational approach is proposed for optimal attitude control of a rigid body. The problem is formulated directly as a discrete time optimization problem using a Lie group variational integrator. Discrete…

This study explores the dynamics of asymmetrical bounding gaits in quadrupedal robots, focusing on the integration of torso pitching and hip motion to enhance speed and stability. Traditional control strategies often enforce a fixed…

This letter considers control of a radially symmetric tripedal friction-driven robot. The robot features 3 servo motors mounted on a 3-D printed chassis 7 cm from the center of mass and separated 120 degrees. These motors drive limbs, which…

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…

Controller design for bipedal walking on dynamic rigid surfaces (DRSes), which are rigid surfaces moving in the inertial frame (e.g., ships and airplanes), remains largely uninvestigated. This paper introduces a hierarchical control…

Keeping the stability can be counted as the essential ability of a humanoid robot to step out of the laboratory to work in our real environment. Since humanoid robots have similar kinematic to a human, humans expect these robots to be…

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…