相关论文: Hybrid Zero Dynamics Control for Bipedal Walking w…

This paper presents a Discrete-Time Model Predictive Controller (MPC) for humanoid walking with online footstep adjustment. The proposed controller utilizes a hierarchical control approach. The high-level controller uses a low-dimensional…

In this paper, we present an energy-conservation based control architecture for stable dynamic motion in quadruped robots. We model the robot as a Spring-loaded Inverted Pendulum (SLIP), a model well-suited to represent the bouncing motion…

Robust and energy-efficient bipedal locomotion in robotics is still a challenging topic. In order to address issues in this field, we can take inspiration from nature, by studying human locomotion. The Spring-Loaded Inverted Pendulum (SLIP)…

In this paper, we consider the problem of adapting a dynamically walking bipedal robot to follow a leading co-worker while engaging in tasks that require physical interaction. Our approach relies on switching among a family of Dynamic…

This paper presents a Differential Dynamic Programming (DDP) framework for trajectory optimization (TO) of hybrid systems with state-based switching. The proposed Hybrid Systems DDP (HS-DDP) approach is considered for application to…

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…

Dynamic bipedal robot locomotion has achieved remarkable success due in part to recent advances in trajectory generation and nonlinear control for stabilization. A key assumption utilized in both theory and experiments is that the robot's…

Soft robots can execute tasks with safer interactions. However, control techniques that can effectively exploit the systems' capabilities are still missing. Differential dynamic programming (DDP) has emerged as a promising tool for…

Low-dimensional models are ubiquitous in the bipedal robotics literature. On the one hand is the community of researchers that bases feedback control design on pendulum models selected to capture the center of mass dynamics of the robot…

Drawing inspiration from human multi-domain walking, this work presents a novel reduced-order model based framework for realizing multi-domain robotic walking. At the core of our approach is the viewpoint that human walking can be…

Safety guarantees are valuable in the control of walking robots, as falling can be both dangerous and costly. Unfortunately, set-based tools for generating safety guarantees (such as sums-of-squares optimization) are typically restricted to…

Robots and control systems rely upon precise timing of sensors and actuators in order to operate intelligently. We present a functioning hexapod robot that walks with a dual tripod gait; each tripod is actuated using its own local…

Despite extensive studies on motion stabilization of bipeds, they still suffer from the lack of disturbance coping capability on slippery surfaces. In this paper, a novel controller for stabilizing a bipedal motion in its sagittal plane is…

We will report our efforts in designing feedback for the thruster-assisted walking of a bipedal robot. We will assume for well-tuned supervisory controllers and will focus on fine-tuning the desired joint trajectories to satisfy the…

This paper presents a distributed inverse dynamics controller (DIDC) for quadruped robots that addresses the limitations of existing reactive controllers: simplified dynamical models, the inability to handle exact friction cone constraints,…

We present a sampling-based kinodynamic planning framework for a bipedal robot in complex environments. Unlike other footstep planner which typically plan footstep locations and the biped dynamics in separate steps, we handle both…

To reproduce natural standing-up motion, recent studies have emphasized the importance of coordination between the assisting robot and the human. However, many non-wearable assistive devices have struggled to replicate natural motion…

We successfully evolved a neural network controller that produces dynamic walking in a simulated bipedal robot with compliant actuators, a difficult control problem. The evolutionary evaluation uses a detailed software simulation of a…

In this paper we provide a method to generate a continuum of limit cycles using a single precomputed exponentially stable limit cycle designed within the Hybrid Zero Dynamics framework. Guarantees for existence and stability of these limit…

We present an approach for achieving a natural, efficient gait on bipedal robots using straightened legs and toe-off. Our algorithm avoids complex height planning by allowing a whole-body controller to determine the straightest possible leg…