相关论文: A Data-Driven Reinforcement Learning Solution Fram…

Data-driven learning-based control methods such as reinforcement learning (RL) have become increasingly popular with recent proliferation of the machine learning paradigm. These methods address the parameter sensitiveness and unmodeled…

Accurate system identification is crucial for reducing trajectory drift in bipedal locomotion, particularly in reinforcement learning and model-based control. In this paper, we present a novel control framework that integrates system…

Closed-loop control remains an open challenge in soft robotics. The nonlinear responses of soft actuators under dynamic loading conditions limit the use of analytic models for soft robot control. Traditional methods of controlling soft…

For legged robots to match the athletic capabilities of humans and animals, they must not only produce robust periodic walking and running, but also seamlessly switch between nominal locomotion gaits and more specialized transient…

We present a personal mobility device for lower-body impaired users through a light-weighted exoskeleton on wheels. On its core, a novel passive exoskeleton provides postural transition leveraging natural body postures with support to the…

This paper presents a hybrid approach that integrates trajectory optimization (TO) and reinforcement learning (RL) for motion planning and control of free-flying multi-arm robots in on-orbit servicing scenarios. The proposed system…

During the development of wearable exoskeletons, evaluations involving human subjects pose inherent safety risks. Therefore, systematic testing is often conducted using robots that emulate human motion. However, reproducing human movements…

Humanoid locomotion is a challenging task due to its inherent complexity and high-dimensional dynamics, as well as the need to adapt to diverse and unpredictable environments. In this work, we introduce a novel learning framework for…

The upper limb robotic exoskeleton is an electromechanical device which use to recover a patients motor dysfunction in the rehabilitation field. It can provide repetitive, comprehensive, focused, positive, and precise training to regain the…

Reinforcement learning (RL) is a popular machine learning paradigm for game playing, robotics control, and other sequential decision tasks. However, RL agents often have long learning times with high data requirements because they begin by…

Reinforcement learning (RL) controllers have made impressive progress in humanoid locomotion and light-weight object manipulation. However, achieving robust and precise motion control with intense force interaction remains a significant…

This paper introduces a novel zero-force control method for upper-limb exoskeleton robots, which are used in a variety of applications including rehabilitation, assistance, and human physical capability enhancement. The proposed control…

This paper presents a real-time gait driven training framework for humanoid robots. First, we introduce a novel gait planner that incorporates dynamics to design the desired joint trajectory. In the gait design process, the 3D robot model…

As humanoid robots enter real-world environments, ensuring robust locomotion across diverse environments is crucial. This paper presents a computationally efficient hierarchical control framework for humanoid robot locomotion based on…

Deep Reinforcement Learning (RL) has shown great success in learning complex control policies for a variety of applications in robotics. However, in most such cases, the hardware of the robot has been considered immutable, modeled as part…

Precise robotic manipulation skills are desirable in many industrial settings, reinforcement learning (RL) methods hold the promise of acquiring these skills autonomously. In this paper, we explicitly consider incorporating operational…

Humans are experts in physical collaboration by leveraging cognitive abilities such as perception, reasoning, and decision-making to regulate compliance behaviors based on their partners' states and task requirements. Equipping robots with…

The prevalence of mobility impairments due to conditions such as spinal cord injuries, strokes, and degenerative diseases is on the rise globally. Lower-limb exoskeletons have been increasingly recognized as a viable solution for enhancing…

Humanoid robots have demonstrated robust locomotion capabilities using Reinforcement Learning (RL)-based approaches. Further, to obtain human-like behaviors, existing methods integrate human motion-tracking or motion prior in the RL…

Model-free control based on the idea of Reinforcement Learning is a promising approach that has recently gained extensive attention. However, Reinforcement-Learning-based control methods solely focus on the regulation problem or learn to…