相关论文: Posture Adjustment for a Wheel-legged Robotic Syst…

Faced with complex and unstructured construction environments, wheeled and tracked robots exhibit significant limitations in terrain adaptability and flexibility, making it difficult to meet the requirements of autonomous operation.…

The robustness of legged locomotion is crucial for quadrupedal robots in challenging terrains. Recently, Reinforcement Learning (RL) has shown promising results in legged locomotion and various methods try to integrate privileged…

This paper presents a Non-Linear Model Predictive Controller for humanoid robot locomotion with online step adjustment capabilities. The proposed controller considers the Centroidal Dynamics of the system to compute the desired contact…

In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully…

This paper presents a learning-based approach for impromptu trajectory tracking for non-minimum phase systems, i.e., systems with unstable inverse dynamics. Inversion-based feedforward approaches are commonly used for improving tracking…

Legged robots leverage ground contacts and the reaction forces they provide to achieve agile locomotion. However, uncertainty coupled with contact discontinuities can lead to failure, especially in real-world environments with unexpected…

Automatically configuring a robotic prosthesis to fit its user's needs and physical conditions is a great technical challenge and a roadblock to the adoption of the technology. Previously, we have successfully developed reinforcement…

This paper presents a control framework that combines model-based optimal control and reinforcement learning (RL) to achieve versatile and robust legged locomotion. Our approach enhances the RL training process by incorporating on-demand…

This paper presents an online walking synthesis methodology to enable dynamic and stable walking on constrained footholds for underactuated bipedal robots. Our approach modulates the change of angular momentum about the foot-ground contact…

Recent advances in quadrupedal robots have demonstrated impressive agility and the ability to traverse diverse terrains. However, hardware issues, such as motor overheating or joint locking, may occur during long-distance walking or…

Bipedal locomotion is a key challenge in robotics, particularly for robots like Bolt, which have a point-foot design. This study explores the control of such underactuated robots using constrained reinforcement learning, addressing their…

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…

This paper presents a novel adaptive control methodology for uncertain systems with time-varying unknown parameters and time-varying bounded disturbance. The adaptive controller ensures uniformly bounded transient and asymptotic tracking…

Legged robots have achieved impressive feats in dynamic locomotion in challenging unstructured terrain. However, in entertainment applications, the design and control of these robots face additional challenges in appealing to human…

Reinforcement learning has emerged as a promising methodology for training robot controllers. However, most results have been limited to simulation due to the need for a large number of samples and the lack of automated-yet-safe data…

Planning and execution of agile locomotion maneuvers have been a longstanding challenge in legged robotics. It requires to derive motion plans and local feedback policies in real-time to handle the nonholonomy of the kinetic momenta. To…

Wheel-legged robots integrate leg agility on rough terrain with wheel efficiency on flat ground. However, most existing designs do not fully capitalize on the benefits of both legged and wheeled structures, which limits overall system…

In this paper, we address the challenge of performing non-prehensile pushing operations with a compliant robotic manipulation system. To ensure safe operations in human-populated environments, robots must comply with external physical…

Legged robots are typically in rigid contact with the environment at multiple locations, which add a degree of complexity to their control. We present a method to control the motion and a subset of the contact forces of a floating-base…

While quadruped robots usually have good stability and load capacity, bipedal robots offer a higher level of flexibility / adaptability to different tasks and environments. A multi-modal legged robot can take the best of both worlds. In…