相关论文: Dynamic and Versatile Humanoid Walking via Embeddi…
Robust bipedal locomotion in exoskeletons requires the ability to dynamically react to changes in the environment in real time. This paper introduces the hybrid data-driven predictive control (HDDPC) framework, an extension of the…
This manuscript presents a model of compliant contacts for time-critical humanoid robot motion control. The proposed model considers the environment as a continuum of spring-damper systems, which allows us to compute the equivalent contact…
Reactive stepping and push recovery for biped robots is often restricted to flat terrains because of the difficulty in computing capture regions for nonlinear dynamic models. In this paper, we address this limitation by using reinforcement…
Partial-assistance exoskeletons hold significant potential for gait rehabilitation by promoting active participation during (re)learning of normative walking patterns. Typically, the control of interaction torques in partial-assistance…
This paper presents a hierarchical control strategy based on hybrid systems theory, nonlinear control, and safety-critical systems to enable cooperative locomotion of robotic guide dogs and visually impaired people. We address…
The ability to realize nonlinear controllers with formal guarantees on dynamic robotic systems has the potential to enable more complex robotic behaviors -- yet, realizing these controllers is often practically challenging. To address this…
Precise control of lower limb exoskeletons during sit-to-stand (STS) transitions remains a central challenge in rehabilitation robotics owing to the highly nonlinear, time-varying dynamics of the human-exoskeleton system and the stringent…
In this paper, we present a novel rolling, jumping robot. The robot consists of a driven pendulum mounted to a wheel in a compact, lightweight, 3D printed design. We show that by driving the pendulum to shift the robot's weight…
In this research, we have developed the data driven computational walking model to overcome the problem with traditional kinematics based model. Our model is adaptable and can adjust the parameter morphological similar to human. The human…
We propose a robust dynamic walking controller consisting of a dynamic locomotion planner, a reinforcement learning process for robustness, and a novel whole-body locomotion controller (WBLC). Previous approaches specify either the position…
The remarkable athletic intelligence displayed by humans in complex dynamic movements such as dancing and gymnastics suggests that the balance mechanism in biological beings is decoupled from specific movement patterns. This decoupling…
In this study, seated walk, a movement of walking while sitting on a chair with casters, is realized on a musculoskeletal humanoid from human teaching. The body is balanced by using buttock-contact sensors implemented on the planar…
Creating natural-looking running gaits for humanoid robots is a complex task due to the underactuated degree of freedom in the trunk, which makes the motion planning and control difficult. The research on trunk movements in human locomotion…
Recently, biped robot walking technology has been significantly developed, mainly in the context of a bland walking scheme. To emulate human walking, robots need to step on the positions they see in unknown spaces accurately. In this paper,…
In this paper, a hierarchical and robust framework for learning bipedal locomotion is presented and successfully implemented on the 3D biped robot Digit built by Agility Robotics. We propose a cascade-structure controller that combines the…
To simply and effectively realize the trajectory tracking control of a bionic joint actuated by a single pneumatic artificial muscle (PAM), a cascaded control strategy is proposed based on the robust modeling method. Firstly, the…
This paper presents a novel framework that enables real-world humanoid robots to maintain stability while performing human-like motion. Current methods train a policy which allows humanoid robots to follow human body using the massive…
This paper introduces a new approach to enhance the robustness of humanoid walking under strong perturbations, such as substantial pushes. Effective recovery from external disturbances requires bipedal robots to dynamically adjust their…
Previous humanoid robot research works treat the robot as a bipedal mobile manipulation platform, where only the feet and hands contact the environment. However, we humans use all body parts to interact with the world, e.g., we sit in…
Forced variational integrators are given by the discretization of the Lagrange-d'Alembert principle for systems subject to external forces, and have proved useful for numerical simulation studies of complex dynamical systems. In this paper…