相关论文: SLIP Walking over Rough Terrain via H-LIP Stepping…
We present a framework for dynamic quadrupedal locomotion over challenging terrain, where the choice of appropriate footholds is crucial for the success of the behaviour. We build a model of the environment on-line and on-board using an…
Off-road navigation on vertically challenging terrain, involving steep slopes and rugged boulders, presents significant challenges for wheeled robots both at the planning level to achieve smooth collision-free trajectories and at the…
The performances of braking control systems for robotic platforms, e.g., assisted and autonomous vehicles, airplanes and drones, are deeply influenced by the road-tire friction experienced during the maneuver. Therefore, the availability of…
The ability to achieve and maintain inverted poses is essential for unlocking the full agility of miniature blimp robots (MBRs). However, developing reliable inverted control strategies for MBRs remains challenging due to their complex and…
We present a solvable biped walking model based on an inverted pendulum with two massless articulated legs capable of walking on uneven floors and inclined planes. The stride of the two-legged robot results from the pendular motion of a…
Safety certification of data-driven control techniques remains a major open problem. This work investigates backward reachability as a framework for providing collision avoidance guarantees for systems controlled by neural network (NN)…
We present a data-driven nonlinear predictive control approach for the class of discrete-time multi-input multi-output feedback linearizable nonlinear systems. The scheme uses a non-parametric predictive model based only on input and noisy…
Wheeled-legged robots combine the efficiency of wheels with the obstacle negotiation of legs, yet many state-of-the-art systems rely on costly actuators and sensors, and fall-recovery is seldom integrated, especially for wheeled-legged…
Pedipulation leverages the feet of legged robots for mobile manipulation, eliminating the need for dedicated robotic arms. While previous works have showcased blind and task-specific pedipulation skills, they fail to account for static and…
The hybrid zero dynamics control concept for bipedal walking is extended to include a non-instantaneous double support phase. A symmetric robot that consists of five rigid body segments which are connected by four actuated revolute joints…
While visual localization or SLAM has witnessed great progress in past decades, when deploying it on a mobile robot in practice, few works have explicitly considered the kinematic (or dynamic) constraints of the real robotic system when…
In this article, we consider a receding horizon control of discrete-time state-dependent jump linear systems, particular kind of stochastic switching systems, subject to possibly unbounded random disturbances and probabilistic state…
There has been significant advancement in legged robot's agility where they can show impressive acrobatic maneuvers, such as parkour. These maneuvers rely heavily on posture manipulation. To expand the stability and locomotion plasticity,…
Autonomous landing on sloped terrain poses significant challenges for small, lightweight spacecraft, such as rotorcraft and landers. These vehicles have limited processing capability and payload capacity, which makes advanced deep learning…
In contrast to quadruped robots that can navigate diverse terrains using a "blind" policy, humanoid robots require accurate perception for stable locomotion due to their high degrees of freedom and inherently unstable morphology. However,…
Two-wheeled inverted pendulum robots are designed for self-balancing and they have remarkable advantages. In this paper, a new configuration and consequently dynamic model of one specific robot is presented and its dynamic behavior is…
This paper presents a new control approach for guaranteed safety (remaining in a safe set) subject to actuator constraints (the control is in a convex polytope). The control signals are computed using real-time optimization, including…
Robot grasping of desktop object is widely used in intelligent manufacturing, logistics, and agriculture.Although vision-language models (VLMs) show strong potential for robotic manipulation, their deployment in low-level grasping faces key…
The discipline of automatic control is making increased use of concepts that originate from the domain of machine learning. Herein, reinforcement learning (RL) takes an elevated role, as it is inherently designed for sequential decision…
Autonomous docking between Unmanned Aerial Vehicles (UAVs) and ground robots is essential for heterogeneous systems, yet most existing approaches target wheeled platforms whose limited mobility constrains exploration in complex terrains.…