相关论文: Underactuated Motion Planning and Control for Jump…
This paper presents a model-based balance stabilization system which takes into account not only the stable part of COM dynamics but also the unstable part. In this system, the overall dynamics of a humanoid robot is approximated using a…
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…
This work presents algorithms for the feedback-stabilised walking of bipedal humanoid robotic platforms, along with the underlying theoretical and sensorimotor frameworks required to achieve it. Bipedal walking is inherently complex and…
This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, based…
This work aims to push the limits of agility for bipedal robots by enabling a torque-controlled bipedal robot to perform robust and versatile dynamic jumps in the real world. We present a reinforcement learning framework for training a…
In trying to build humanoid robots that perform useful tasks in a world built for humans, we address the problem of autonomous locomotion. Humanoid robot planning and control algorithms for walking over rough terrain are becoming…
Legged robots are becoming increasingly agile in exhibiting dynamic behaviors such as running and jumping. Usually, such behaviors are either optimized and engineered offline (i.e. the behavior is designed for before it is needed), either…
Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially…
A common approach to the generation of walking patterns for humanoid robots consists in adopting a layered control architecture. This paper proposes an architecture composed of three nested control loops. The outer loop exploits a robot…
Parallel-elastic joints can improve the efficiency and strength of robots by assisting the actuators with additional torques. For these benefits to be realized, a spring needs to be carefully designed. However, designing robots is an…
In multi-robot systems, achieving coordinated missions remains a significant challenge due to the coupled nature of coordination behaviors and the lack of global information for individual robots. To mitigate these challenges, this paper…
Exoskeleton robots have become a promising tool in neurorehabilitation, offering effective physical therapy and recovery monitoring. The success of these therapies relies on precise motion control systems. Although computed torque control…
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…
Most conventional wheeled robots can only move in flat environments and simply divide their planar workspaces into free spaces and obstacles. Deeming obstacles as non-traversable significantly limits wheeled robots' mobility in real-world,…
A deformable land-air robot is introduced with excellent driving and flying capabilities, offering a smooth switching mechanism between the two modes. An elaborate coupled dynamics model is established for the robot, including rotors,…
Legged robots have the potential to become vital in maintenance, home support, and exploration scenarios. In order to interact with and manipulate their environments, most legged robots are equipped with a dedicated robot arm, which means…
Planning balanced and collision-free motion for humanoid robots is non-trivial, especially when they are operated in complex environments, such as reaching targets behind obstacles or through narrow passages. We propose a method that allows…
In this paper, we present a bilevel optimal motion planning (BOMP) model for autonomous parking. The BOMP model treats motion planning as an optimal control problem, in which the upper level is designed for vehicle nonlinear dynamics, and…
Quadrupedal animals employ diverse galloping strategies to optimize speed, stability, and energy efficiency. However, the biomechanical mechanisms that enable adaptive gait transitions during high-speed locomotion under load remain poorly…
Multi-robot systems offer enhanced capability over their monolithic counterparts, but they come at a cost of increased complexity in coordination. To reduce complexity and to make the problem tractable, multi-robot motion planning (MRMP)…