相关论文: A Fast Online Omnidirectional Quadrupedal Jumping …
Dynamic jumping with legged robots poses a challenging problem in planning and control. Formulating the jump optimization to allow fast online execution is difficult; efficiently using this capability to generate long-horizon motion plans…
Natural terrain complexity often necessitates agile movements like jumping in animals to improve traversal efficiency. To enable similar capabilities in quadruped robots, complex real-time jumping maneuvers are required. Current research…
This work presents a two part framework for online planning and execution of dynamic aerial motions on a quadruped robot. Motions are planned via a centroidal momentum-based nonlinear optimization that is general enough to produce rich sets…
Quadrupeds are strong candidates for navigating challenging environments because of their agile and dynamic designs. This paper presents a methodology that extends the range of exploration for quadrupedal robots by creating an end-to-end…
Quadrupedal wheeled-legged robots combine the advantages of legged and wheeled locomotion to achieve superior mobility, but executing dynamic jumps remains a significant challenge due to the additional degrees of freedom introduced by…
This paper presents an optimal motion planning framework to generate versatile energy-optimal quadrupedal jumping motions automatically (e.g., flips, spin). The jumping motions via the centroidal dynamics are formulated as a 12-dimensional…
In this letter, we present a versatile hierarchical offline planning algorithm, along with an online control pipeline for agile quadrupedal locomotion. Our offline planner alternates between optimizing centroidal dynamics for a…
Jumping is essential for legged robots to traverse through difficult terrains. In this work, we propose a hierarchical framework that combines optimal control and reinforcement learning to learn continuous jumping motions for quadrupedal…
Legged robots are becoming increasingly agile in exhibiting dynamic behaviors such as running and jumping. Usually, such behaviors are either optimized and engineered offline (i.e. the behavior is designed for before it is needed), either…
High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to achieve high-dynamic and explosive jumping. This paper…
Generating dynamic jumping motions on legged robots remains a challenging control problem as the full flight phase and large landing impact are expected. Compared to quadrupedal robots or other multi-legged robots, bipedal robots place…
This paper aims to develop a hierarchical nonlinear control algorithm, based on model predictive control (MPC), quadratic programming (QP), and virtual constraints, to generate and stabilize locomotion patterns in a real-time manner for…
Performing highly agile acrobatic motions with a long flight phase requires perfect timing, high accuracy, and coordination of the full-body motion. To address these challenges, we present a novel approach on timings and trajectory…
Dynamic and continuous jumping remains an open yet challenging problem in bipedal robot control. Real-time planning with full body dynamics over the entire jumping trajectory presents unsolved challenges in computation burden. In this…
We show dynamic locomotion strategies for wheeled quadrupedal robots, which combine the advantages of both walking and driving. The developed optimization framework tightly integrates the additional degrees of freedom introduced by the…
Offline evolutionary-based methodologies have supplied a successful motion planning framework for the quadrupedal jump. However, the time-consuming computation caused by massive population evolution in offline evolutionary-based jumping…
Specialized motions such as jumping are often achieved on quadruped robots by solving a trajectory optimization problem once and executing the trajectory using a tracking controller. This approach is in parallel with Model Predictive…
Wheeled-legged robots have the potential for highly agile and versatile locomotion. The combination of legs and wheels might be a solution for any real-world application requiring rapid, and long-distance mobility skills on challenging…
This paper addresses the modeling and attitude control of jumping quadrupeds in low-gravity environments. First, a convex decomposition procedure is presented to generate high-accuracy and low-cost collision geometries for quadrupeds…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…