相关论文: Control Lyapunov Functions for Compliant Hybrid Ze…

Bipedal robots promise the ability to traverse rough terrain quickly and efficiently, and indeed, humanoid robots can now use strong ankles and careful foot placement to traverse discontinuous terrain. However, more agile underactuated…

Global position control for underactuated bipedal walking is a challenging problem due to the lack of actuation on the feet of the robots. In this paper, we apply the Hybrid-Linear Inverted Pendulum (H-LIP) based stepping on 3D…

This paper presents an online framework for synthesizing agile locomotion for bipedal robots that adapts to unknown environments, modeling errors, and external disturbances. To this end, we leverage step-to-step (S2S) dynamics which has…

Experimental demonstration of complex robotic behaviors relies heavily on finding the correct controller gains. This painstaking process is often completed by a domain expert, requiring deep knowledge of the relationship between parameter…

Achieving highly dynamic behaviors on humanoid robots, such as running, requires controllers that are both robust and precise, and hence difficult to design. Classical control methods offer valuable insight into how such systems can…

Complex robotic systems require whole-body controllers to deal with contact interactions, handle closed kinematic chains, and track task-space control objectives. However, for many applications, safety-critical controllers are important to…

This paper proposes a hierarchical Lyapunov-based adaptive cascade control scheme for a lower-limb exoskeleton with control saturation. The proposed approach is composed by two control levels with cascade structure. At the higher layer of…

Hybrid systems theory has become a powerful approach for designing feedback controllers that achieve dynamically stable bipedal locomotion, both formally and in practice. This paper presents an analytical framework 1) to address…

Envisioned applications for humanoid robots call for the design of balancing and walking controllers. While promising results have been recently achieved, robust and reliable controllers are still a challenge for the control community…

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…

The paper presents a planner to generate walking trajectories by using the centroidal dynamics and the full kinematics of a humanoid robot. The interaction between the robot and the walking surface is modeled explicitly via new conditions,…

Several recently released humanoid robots, inspired by the mechanical design of Cassie, employ actuator configurations in which the motors are displaced from the joints to reduce leg inertia. While studies accounting for the full kinematic…

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…

This paper presents a -- Learning from Demonstration -- method to perform robot movement trajectories that can be defined as you go. This way unstructured tasks can be performed, without the need to know exactly all the tasks and start and…

Realizing bipedal locomotion on humanoid robots with point feet is especially challenging due to their highly underactuated nature, high degrees of freedom, and hybrid dynamics resulting from impacts. With the goal of addressing this…

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…

In this paper, we propose a multi-domain control parameter learning framework that combines Bayesian Optimization (BO) and Hybrid Zero Dynamics (HZD) for locomotion control of bipedal robots. We leverage BO to learn the control parameters…

Bipedal walking is one of the most important hallmarks of human that robots have been trying to mimic for many decades. Although previous control methodologies have achieved robot walking on some terrains, there is a need for a framework…

When do locomotion controllers require reasoning about nonlinearities? In this work, we show that a whole-body model-predictive controller using a simple linear time-invariant approximation of the whole-body dynamics is able to execute…

The hybrid zero dynamics (HZD) approach has become a powerful tool for the gait planning and control of bipedal robots. This paper aims to extend the HZD methods to address walking, ambling and trotting behaviors on a quadrupedal robot. We…