相关论文: Collision detection and identification for a legge…
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…
To generate reliable motion for legged robots through trajectory optimization, it is crucial to simultaneously compute the robot's path and contact sequence, as well as accurately consider the dynamics in the problem formulation. In this…
Collision detection and collision avoidance are essential components in these systems for safe human-robot interactions. Robotics systems that can work "out-of-the-box" without excessive amount of installation and calibration from the…
Collision detection and recovery for aerial robots remain a challenge because of the limited space for sensors and local stability of the flight controller. We introduce a novel collision-resilient quadrotor that features a compliant arm…
Due to their ability to adapt to different terrains, quadruped robots have drawn much attention in the research field of robot learning. Legged mobile manipulation, where a quadruped robot is equipped with a robotic arm, can greatly enhance…
Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such methods is their robustness in the face of non-smooth and…
Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…
Identifying the parameters of robotic systems, such as motor inertia or joint friction, is critical to satisfactory controller synthesis, model analysis, and observer design. Conventional identification techniques are designed primarily for…
As bipedal robots become more and more popular in commercial and industrial settings, the ability to control them with a high degree of reliability is critical. To that end, this paper considers how to accurately estimate which feet are…
High-speed legged navigation in discrete and geometrically complex environments is a challenging task because of the high-degree-of-freedom dynamics and long-horizon, nonconvex nature of the optimization problem. In this work, we propose a…
Real-time synthesis of legged locomotion maneuvers in challenging industrial settings is still an open problem, requiring simultaneous determination of footsteps locations several steps ahead while generating whole-body motions close to the…
This paper proposes an online friction coefficient identification framework for legged robots on slippery terrain. The approach formulates the optimization problem to minimize the sum of residuals between actual and predicted states…
Precise manipulation tasks require accurate knowledge of payload inertial parameters. Unfortunately, identifying these parameters for unknown payloads while ensuring that the robotic system satisfies its input and state constraints while…
Collaborative robots are becoming more common on factory floors as well as regular environments, however, their safety still is not a fully solved issue. Collision detection does not always perform as expected and collision avoidance is…
In industrial applications, complex tasks require human collaboration since the robot doesn't have enough dexterity. However, the robots are still implemented as tools and not as collaborative intelligent systems. To ensure safety in the…
In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…
Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they encounter. This is especially difficult when effects like…
External collisions to robot actuators typically pose risks to grasping circular objects. This work presents a vision-based sensing module capable of detecting collisions to maintain stable grasping with a soft gripper system. The system…
In this paper, we propose the "Kinetics Observer", a novel estimator addressing the challenge of state estimation for legged robots using proprioceptive sensors (encoders, IMU and force/torque sensors). Based on a Multiplicative Extended…
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…