相关论文: Multi-Contact Whole-Body Force Control for Positio…
In recent years, the field of legged robotics has seen growing interest in enhancing the capabilities of these robots through the integration of articulated robotic arms. However, achieving successful loco-manipulation, especially involving…
Whole-body geometric calibration of humanoid robots using classical robot calibration methods is a timeconsuming and experimentally burdensome task. However, despite its significance for accurate control and simulation, it is often…
Enforcing balance of multi-limbed robots in multiple non-coplanar unilateral contact settings is challenging when a subset of such contacts are also induced in motion tasks. The first contribution of this paper is in enhancing the…
This article propose a whole-body impedance coordinative control framework for a wheel-legged humanoid robot to achieve adaptability on complex terrains while maintaining robot upper body stability. The framework contains a bi-level control…
Quadrupedal manipulators require to be compliant when dealing with external forces during autonomous manipulation, tele-operation or physical human-robot interaction. This paper presents a whole-body controller that allows for the…
For safe and effective operation of humanoid robots in human-populated environments, the problem of commanding a large number of Degrees of Freedom (DoF) while simultaneously considering dynamic obstacles and human proximity has still not…
Manipulation with whole-body contact by humanoid robots offers distinct advantages, including enhanced stability and reduced load. On the other hand, we need to address challenges such as the increased computational cost of motion…
The transition from free motion to contact is a challenging problem in robotics, in part due to its hybrid nature. Additionally, disregarding the effects of impacts at the motion planning level often results in intractable impulsive contact…
Recent studies on quadruped robots have focused on either locomotion or mobile manipulation using a robotic arm. Legged robots can manipulate heavier and larger objects using non-prehensile manipulation primitives, such as planar pushing,…
This paper delves into various robotic manipulation control methods designed for dynamic contact tooling operations on a robotic repair platform. The explored control strategies include hybrid position-force control, admittance control,…
With the accelerated development of robot technologies, optimal control becomes one of the central themes of research. In traditional approaches, the controller, by its internal functionality, finds appropriate actions on the basis of the…
This study deals with the balance of humanoid or multi-legged robots in a multi-contact setting where a chosen subset of contacts is undergoing desired sliding-task motions. One method to keep balance is to hold the center-of-mass (CoM)…
Wheel-legged robots with integrated manipulators hold great promise for mobile manipulation in logistics, industrial automation, and human-robot collaboration. However, unified control of such systems remains challenging due to the…
Humanoid robot teleoperation allows humans to integrate their cognitive capabilities with the apparatus to perform tasks that need high strength, manoeuvrability and dexterity. This paper presents a framework for teleoperation of humanoid…
Humanoid robots could benefit from using their upper bodies for support contacts, enhancing their workspace, stability, and ability to perform contact-rich and pushing tasks. In this paper, we propose a unified approach that combines an…
In this paper, we present a hybrid position/force controller for operating joint robots. The hybrid controller has two goals -- motion tracking and force regulating. As long as these two goals are not mutually exclusive, they can be…
Occlusions caused by a robot's own body is a common problem for closed-loop control methods employed in eye-to-hand camera setups. We propose an optimization-based reactive controller that minimizes self-occlusions while achieving a desired…
Teleoperation has emerged as an alternative solution to fully-autonomous systems for achieving human-level capabilities on humanoids. Specifically, teleoperation with whole-body control is a promising hands-free strategy to command…
Loco-manipulation, physical interaction of various objects that is concurrently coordinated with locomotion, remains a major challenge for legged robots due to the need for both precise end-effector control and robustness to unmodeled…
Set-Based Multi-Task Priority is a recent framework to handle inverse kinematics for redundant structures. Both equality tasks, i.e., control objectives to be driven to a desired value, and set-bases tasks, i.e., control objectives to be…