相关论文: Impact Invariant Control with Applications to Bipe…

Adaptive control can address model uncertainty in control systems. However, it is preliminarily designed for tracking control. Recent advancements in the control of quadruped robots show that force control can effectively realize agile and…

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…

Recent advances in deep reinforcement learning (RL) based techniques combined with training in simulation have offered a new approach to developing robust controllers for legged robots. However, the application of such approaches to real…

This paper presents a scalable and adaptive control framework for legged robots that integrates Iterative Learning Control (ILC) with a biologically inspired torque library (TL), analogous to muscle memory. The proposed method addresses key…

In this paper, we investigate the synthesis of piecewise affine feedback controllers to address the problem of safe and robust controller design in robotics based on high-level controls specifications. The methodology is based on…

Haptic upper limb exoskeletons are robots that assist human operators during task execution while having the ability to render virtual or remote environments. Therefore, the stability of such robots in physical human-robot-environment…

Despite major advancements in control design that are robust to unplanned disturbances, bipedal robots are still susceptible to falling over and struggle to negotiate rough terrains. By utilizing thrusters in our bipedal robot, we can…

In this paper, we propose a novel framework for synthesizing a single multimodal control policy capable of generating diverse behaviors (or modes) and emergent inherent transition maneuvers for bipedal locomotion. In our method, we first…

Accurate post-impact velocity predictions are essential in developing impact-aware manipulation strategies for robots, where contacts are intentionally established at non-zero speed mimicking human manipulation abilities in dynamic grasping…

Legged robots have enormous potential in their range of capabilities, from navigating unstructured terrains to high-speed running. However, designing robust controllers for highly agile dynamic motions remains a substantial challenge for…

With the aim of further enabling the exploitation of impacts in robotic manipulation, a control framework is presented that directly tackles the challenges posed by tracking control of robotic manipulators that are tasked to perform…

In order for a humanoid robot to perform loco-manipulation such as moving an object while walking, it is necessary to account for sustained or alternating external forces other than ground-feet reaction, resulting from humanoid-object…

In this paper we propose a novel bipedal locomotion controller that uses noisy exteroception to traverse a wide variety of terrains. Building on the cutting-edge advancements in attention based belief encoding for quadrupedal locomotion,…

This paper investigates one of the most challenging tasks in dynamic manipulation -- catching large-momentum moving objects. Beyond the realm of quasi-static manipulation, dealing with highly dynamic objects can significantly improve the…

This study proposes an integrated task and motion planning method for dynamic locomotion in partially observable environments with multi-level safety guarantees. This layered planning framework is composed of a high-level symbolic task…

In task-based inverse dynamics control, reference accelerations used to follow a desired plan can be broken down into feedforward and feedback trajectories. The feedback term accounts for tracking errors that are caused from inaccurate…

Generating robust locomotion for a humanoid robot in the presence of disturbances is difficult because of its high number of degrees of freedom and its unstable nature. In this paper, we used the concept of Divergent Component of…

This paper describes the control, and evaluation of a new human-scaled biped robot with liquid cooled viscoelastic actuators (VLCA). Based on the lessons learned from previous work from our team on VLCA [1], we present a new system design…

This paper presents three feedback controllers that achieve an asymptotically stable, periodic, and fast walking gait for a 3D (spatial) bipedal robot consisting of a torso, two legs, and passive (unactuated) point feet. The contact between…

This paper addresses the problem of computing optimal impedance schedules for legged locomotion tasks involving complex contact interactions. We formulate the problem of impedance regulation as a trade-off between disturbance rejection and…