相关论文: Performance satisfaction in Harpy, a thruster-assi…

In this paper, we will report our efforts in designing closed-loop feedback for the thruster-assisted walking of bipedal robots. We will assume for well-tuned supervisory controllers and will focus on fine-tuning the joints desired…

Bipedal robots represent a remarkable and sophisticated class of robotics, designed to emulate human form and movement. Their development marks a significant milestone in the field. However, even the most advanced bipedal robots face…

This study presents an analysis of experimental data from Harpy, a thruster-assisted bipedal robot developed at Northeastern University. The study examines data sets from trotting and jumping experiments to understand the fundamental…

Despite major advancements in control design that are robust to unplanned disturbances, bipedal robots are still susceptible to falling over and struggle to negotiate rough terrains. By utilizing thrusters in our bipedal robot, we can…

Bipedal robots are a fascinating and advanced category of robots designed to mimic human form and locomotion. The development of the bipedal robots is a significant milestone in robotics. However, even the most advanced bipedal robots are…

Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These techniques are commonly seen in nature, such as Chukar birds…

Despite many accomplishments by legged robot designers, state-of-the-art bipedal robots are prone to falling over, cannot negotiate extremely rough terrains and cannot directly regulate unilateral contact forces. Our objective is to…

Bipedal robots have received much attention because of the variety of motion maneuvers that they can produce, and the many applications they have in various areas including rehabilitation. One of these motion maneuvers is walking. In this…

Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These techniques are commonly seen in nature, such as Chukar birds…

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…

In a multi-modal system which combines thruster and legged locomotion such our state-of-the-art Harpy platform to perform dynamic locomotion. Therefore, it is very important to have a proper estimate of Thruster force. Harpy is a bipedal…

Bipedal robots promise the ability to traverse rough terrain quickly and efficiently, and indeed, humanoid robots can now use strong ankles and careful foot placement to traverse discontinuous terrain. However, more agile underactuated…

Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the robot without interfering with the target direction and speed…

In this paper we exploit some interesting properties of a class of bipedal robots which have an inertial disc. One of this properties is the ability to control every position and speed except for the disc position. The proposed control is…

In this study, our aim is to evaluate the effectiveness of thruster-assisted steep slope walking for the Husky Carbon, a quadrupedal robot equipped with custom-designed actuators and plural electric ducted fans, through simulation prior to…

In this paper, disturbance reconstruction and robust trajectory tracking control of biped robots with hybrid dynamics in the port-Hamiltonian form is investigated. A new type of Hamiltonian function is introduced, which ensures the…

Stable bipedal walking is a key prerequisite for humanoid robots to reach their potential of being versatile helpers in our everyday environments. Bipedal walking is, however, a complex motion that requires the coordination of many degrees…

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…

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…

We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments cluttered with obstacles having arbitrary convex shapes. The proposed navigation approach relies on a hybrid feedback to guarantee global…