相关论文: Kinodynamic Motion Planning for Multi-Legged Robot…
Recent progress in legged locomotion has rendered quadruped manipulators a promising solution for performing tasks that require both mobility and manipulation (loco-manipulation). In the real world, task specifications and/or environment…
It is a common problem in robotics to specify the position of each joint of the robot so that the endpoint reaches a certain target in space. This can be solved in two ways, forward kinematics method and inverse kinematics method. However,…
This paper studies the scheduling of a large population of non-preemptive flexible electric loads, each of which has a flexible starting time but once started will follow a fixed load shape until completion. We first formulate the…
Locomotion in microgravity often relies on sparsely and irregularly arranged anchors, motivating grasp-based mobility with multiple limbs. In this setting, dynamic locomotion is feasible only through deliberate regulation of both anchored…
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…
Imitation learning from human motion capture (MoCap) data provides a promising way to train humanoid robots. However, due to differences in morphology, such as varying degrees of joint freedom and force limits, exact replication of human…
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…
Natural terrain complexity often necessitates agile movements like jumping in animals to improve traversal efficiency. To enable similar capabilities in quadruped robots, complex real-time jumping maneuvers are required. Current research…
A new motion planning framework for automated highway merging is presented in this paper. To plan the merge and predict the motion of the neighboring vehicle, the ego automated vehicle solves a joint optimization of both vehicle costs over…
In this work, we address a task allocation problem for human multi-robot settings. Given a set of tasks to perform, we formulate a general Mixed-Integer Linear Programming (MILP) problem aiming at minimizing the overall execution time while…
This paper presents a multi-contact motion adaptation framework that enables teleoperation of high degree-of-freedom (DoF) robots, such as quadrupeds and humanoids, for loco-manipulation tasks in multi-contact settings. Our proposed…
The performance of legged robots depends strongly on both mechanical design and control, motivating co-design approaches that jointly optimize these parameters. However, most existing co-design studies focus on optimizing link dimensions…
This study presents a theoretical method for planning and controlling agile bipedal locomotion based on robustly tracking a set of non-periodic keyframe states. Based on centroidal momentum dynamics, we formulate a hybrid phase-space…
Human-robot collaborative applications require scene representations that are kept up-to-date and facilitate safe motions in dynamic scenes. In this letter, we present an interactive distance field mapping and planning (IDMP) framework that…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
Differential Dynamic Programming (DDP) is an efficient computational tool for solving nonlinear optimal control problems. It was originally designed as a single shooting method and thus is sensitive to the initial guess supplied. This work…
Continuum robots with floating bases demonstrate exceptional operational capabilities in confined spaces, such as those encountered in medical surgeries and equipment maintenance. However, developing low-cost solutions for their motion and…
Serially connected robots are promising candidates for performing tasks in confined spaces such as search-and-rescue in large-scale disasters. Such robots are typically limbless, and we hypothesize that the addition of limbs could improve…
This paper presents a novel learning-based control framework that uses keyframing to incorporate high-level objectives in natural locomotion for legged robots. These high-level objectives are specified as a variable number of partial or…
Correct-by-construction manipulation planning in a dynamic environment, where other agents can manipulate objects in the workspace, is a challenging problem. The tight coupling of actions and motions between agents and complexity of mission…