相关论文: Human Leg Training Machine Based on The Multi-link…
The ability to flexibly leverage limbs for loco-manipulation is essential for enabling autonomous robots to operate in unstructured environments. Yet, prior work on loco-manipulation is often constrained to specific tasks or predetermined…
Humans' ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Leaning and replication of such human-like strategies can lead to the development of more sophisticated robots…
Humans and other animals coactivate agonist and antagonist muscles in many motor actions. Increases in muscle coactivation are thought to leverage viscoelastic properties of skeletal muscles to provide resistance against limb motion.…
Robots operating in human environments need various skills, like slow and fast walking, turning, side-stepping, and many more. However, building robot controllers that can exhibit such a large range of behaviors is a challenging problem…
Legged locomotion is a complex control problem that requires both accuracy and robustness to cope with real-world challenges. Legged systems have traditionally been controlled using trajectory optimization with inverse dynamics. Such…
Robotic legs have bimodal operations: swing phases when the leg needs to move quickly in the air (high-speed, low-force) and stance phases when the leg bears the weight of the system (low-speed, high-force). Sizing a traditional…
Legged systems have many advantages when compared to their wheeled counterparts. For example, they can more easily navigate extreme, uneven terrain. However, there are disadvantages as well, particularly the difficulty seen in modeling the…
When do locomotion controllers require reasoning about nonlinearities? In this work, we show that a whole-body model-predictive controller using a simple linear time-invariant approximation of the whole-body dynamics is able to execute…
This paper presents a novel method to control humanoid robot dynamic loco-manipulation with multiple contact modes via multi-contact Model Predictive Control (MPC) framework. The proposed framework includes a multi-contact dynamics model…
Human motion analysis is used in many different fields and applications. Currently, existing systems either focus on one single limb or one single class of movements. Many proposed systems are designed to be used in an indoor controlled…
When a big and heavy robot moves, it exerts large forces on the environment and on its own structure, its angular momentum can varysubstantially, and even the robot's structure can deform if there is a mechanical weakness. Under these…
The musculoskeletal humanoid has many benefits that human beings have, but the modeling of its complex flexible body is difficult. Although we have developed an online acquisition method of the nonlinear relationship between joints and…
During co-manipulation involving humans and robots, it is necessary to base robot controllers on human behaviors to achieve comfortable and coordinated movement between the human-robot dyad. In this paper, we describe an experiment between…
Using joint actuators to drive the skeletal movements is a common practice in character animation, but the resultant torque patterns are often unnatural or infeasible for real humans to achieve. On the other hand, physiologically-based…
Locomotion has seen dramatic progress for walking or running across challenging terrains. However, robotic quadrupeds are still far behind their biological counterparts, such as dogs, which display a variety of agile skills and can use the…
Supernumerary Robotic Limbs (SRLs) can enhance human capability within close proximity. However, as a wearable device, the generated moment from its operation acts on the human body as an external torque. When the moments increase, more…
The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during mo-tions between the prespecified test postures. It employs a low-cost measuring system…
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…
The feet of robots are typically used to design locomotion strategies, such as balancing, walking, and running. However, they also have great potential to perform manipulation tasks. In this paper, we propose a model predictive control…
This paper considers the motion control and task planning problem of mobile robots under complex high-level tasks and human initiatives. The assigned task is specified as Linear Temporal Logic (LTL) formulas that consist of hard and soft…