相关论文: Optimal Gait Families using Lagrange Multiplier Me…
During learning trials, systems are exposed to different failure conditions which may break robotic parts before a safe behavior is discovered. Humans contour this problem by grounding their learning to a safer structure/control first and…
A new method is developed for solving optimal control problems whose solutions are nonsmooth. The method developed in this paper employs a modified form of the Legendre-Gauss-Radau orthogonal direct collocation method. This modified…
This paper presents a modular approach to motion planning with provable stability guarantees for robots that move through changing environments via periodic locomotion behaviors. We focus on dynamic walkers as a paradigm for such systems,…
Dynamic maneuvers for legged robots present a difficult challenge due to the complex dynamics and contact constraints. This paper introduces a versatile trajectory optimization framework for continuous-time multi-phase problems. We…
Generation of robust trajectories for legged robots remains a challenging task due to the underlying nonlinear, hybrid and intrinsically unstable dynamics which needs to be stabilized through limited contact forces. Furthermore,…
Generating feasible robot motions in real-time requires achieving multiple tasks (i.e., kinematic requirements) simultaneously. These tasks can have a specific goal, a range of equally valid goals, or a range of acceptable goals with a…
Pedestrian egress from training schools in the after-class period (especially in China, as children walk down stairs together with their parents) raises practical concerns related to degraded flow conditions and possible safety hazards, but…
In this paper, we improve upon a method for optimal control of quadrupedal robots which utilizes a full-order model of the system. The original method utilizes offline nonlinear optimal control to synthesize a control scheme which…
Walking controllers often require parametrization which must be tuned according to some cost function. To estimate these parameters, simulations can be performed which are cheap but do not fully represent reality. Real-robot experiments, on…
This paper generalizes a previously-conceived, continuation-based optimization technique for scalar objective functions on constraint manifolds to cases of periodic and quasiperiodic solutions of delay-differential equations. A Lagrange…
An enabling technology for future sea transports is safe and energy-efficient autonomous maritime navigation in narrow environments with other marine vessels present. This requires that the algorithm controlling the ship is able to account…
Locomotion gaits are fundamental for control of soft terrestrial robots. However, synthesis of these gaits is challenging due to modeling of robot-environment interaction and lack of a mathematical framework. This work presents an…
Many theoretical and experimental studies have used heuristic methods to investigate the dynamic behaviour of the passive coupling of adjacent structures. However, few papers have used optimization techniques with guaranteed convergence in…
A hopping leg, no matter in legged animals or humans, usually behaves like a spring during the periodic hopping. Hopping like a spring is efficient and without the requirement of complicated control algorithms. Position and force control…
Human mobility, enabled by diverse transportation modes, is fundamental to urban functionality. Studying these movements across scales-from microscopic to macroscopic-yields valuable insights into urban dynamics. Local adaptation and…
Optimization fabrics are a geometric approach to real-time local motion generation, where motions are designed by the composition of several differential equations that exhibit a desired motion behavior. We generalize this framework to…
Gaits and transitions are key components in legged locomotion. For legged robots, describing and reproducing gaits as well as transitions remain longstanding challenges. Reinforcement learning has become a powerful tool to formulate…
A general method to describe stochastic dynamics of Markov processes is suggested. The method aims to solve three related problems. The determination of an optimal coordinate for the description of stochastic dynamics. The reconstruction of…
The adaptability of soft robots makes them ideal candidates to maneuver through unstructured environments. However, locomotion challenges arise due to complexities in modeling the body mechanics, actuation, and robot-environment dynamics.…
Symmetry manifests itself in legged locomotion in a variety of ways. No matter where a legged system begins to move periodically, the torso and limbs coordinate with each other's movements in a similar manner. Also, in many gaits observed…