相关论文: Geometric Gait Optimization for Inertia-Dominated …
Elongate animals and robots use undulatory body waves to locomote through diverse environments. Geometric mechanics provides a framework to model and optimize such systems in highly damped environments, connecting a prescribed shape change…
This study proposes the topology optimization method for moving rigid bodies subjected to forces from fluid flow, such as sails and turbines, with an unsteady time-dependent formulation. Unlike existing topology optimization frameworks in…
Walking motion planning based on Divergent Component of Motion (DCM) and Linear Inverted Pendulum Model (LIPM) is one of the alternatives that could be implemented to generate online humanoid robot gait trajectories. This algorithm requires…
This paper presents a Q-learning framework for learning optimal locomotion gaits in robotic systems modeled as coupled rigid bodies. Inspired by prevalence of periodic gaits in bio-locomotion, an open loop periodic input is assumed to (say)…
Soft robots offer a frontier in robotics with enormous potential for safe human-robot interaction and agility in uncertain environments. A stepping stone towards unlocking their potential is a control theory tailored to soft robotics,…
Flying animals, such as bats, fly through their fluidic environment as they create air jets and form wake structures downstream of their flight path. Bats, in particular, dynamically morph their highly flexible and dexterous armwing to…
Gaits engineered for snake-like robots to rotate in-place instrumentally fill a gap in the set of locomotive gaits that have traditionally prioritized translation. This paper designs a Turn-in-Place gait and demonstrates the ability of a…
Robots often interact with the world via attached parts such as wheels, joints, or appendages. In many systems, these interactions, and the manner in which they lead to locomotion, can be understood using the machinery of geometric…
In this work we present a trajectory Optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automatically discover different gaits and dynamic motions on a…
In this paper, we identify optimal swimming strategies for drag-dominated swimmers with a passive elastic joint. We use resistive force theory (RFT) to obtain the dynamics of the system. We then use frequency domain analysis to relate the…
Understanding the relation between anatomy andgait is key to successful predictive gait simulation. Inthis paper, we present Generative GaitNet, which isa novel network architecture based on deep reinforce-ment learning for controlling a…
Current gait analysis faces challenges in various aspects, including limited and poorly labeled data within existing wearable electronics databases, difficulties in collecting patient data due to privacy concerns, and the inadequacy of the…
Terrain geometry is, in general, non-smooth, non-linear, non-convex, and, if perceived through a robot-centric visual unit, appears partially occluded and noisy. This work presents the complete control pipeline capable of handling the…
We study the tracking of a trajectory for a nonholonomic system by recasting the problem as a constrained optimal control problem. The cost function is chosen to minimize the error in positions and velocities between the trajectory of a…
Real-time constraint satisfaction for robots can be quite challenging due to the high computational complexity that arises when accounting for the system dynamics and environmental interactions, often requiring simplification in modelling…
The levels of agility and flight or swimming performance demonstrated by insects, birds, fish, and even some aquatic invertebrates, are often vastly superior to what even the most advanced human-engineered vehicles operating in the same…
Topology optimization methods have widely been used in various industries, owing to their potential for providing promising design candidates for mechanical devices. However, their applications are usually limited to the objects which do…
We present a framework for learning a single policy capable of producing all quadruped gaits and transitions. The framework consists of a policy trained with deep reinforcement learning (DRL) to modulate the parameters of a system of…
Geometric mechanics provides valuable insights into how biological and robotic systems use changes in shape to move by mechanically interacting with their environment. In high-friction environments it provides that the entire interaction is…
Legged robots are able to navigate complex terrains by continuously interacting with the environment through careful selection of contact sequences and timings. However, the combinatorial nature behind contact planning hinders the…