相关论文: RL-augmented MPC Framework for Agile and Robust Bi…

Controller design for bipedal walking on dynamic rigid surfaces (DRSes), which are rigid surfaces moving in the inertial frame (e.g., ships and airplanes), remains largely uninvestigated. This paper introduces a hierarchical control…

This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, based…

In this paper, we present a Riemannian Motion Policy (RMP)flow-based whole-body control framework for improved dynamic legged locomotion. RMPflow is a differential geometry-inspired algorithm for fusing multiple task-space policies (RMPs)…

This paper presents a novel framework for learning robust bipedal walking by combining a data-driven state representation with a Reinforcement Learning (RL) based locomotion policy. The framework utilizes an autoencoder to learn a…

This work explores an innovative algorithm designed to enhance the mobility of underactuated bipedal robots across challenging terrains, especially when navigating through spaces with constrained opportunities for foot support, like steps…

While quadruped robots usually have good stability and load capacity, bipedal robots offer a higher level of flexibility / adaptability to different tasks and environments. A multi-modal legged robot can take the best of both worlds. In…

Performing acrobatic maneuvers like dynamic jumping in bipedal robots presents significant challenges in terms of actuation, motion planning, and control. Traditional approaches to these tasks often simplify dynamics to enhance…

This paper proposes a modular framework to generate robust biped locomotion using a tight coupling between an analytical walking approach and deep reinforcement learning. This framework is composed of six main modules which are…

We present a novel control strategy for dynamic legged locomotion in complex scenarios, that considers information about the morphology of the terrain in contexts when only on-board mapping and computation are available. The strategy is…

This paper presents a control framework that combines model-based optimal control and reinforcement learning (RL) to achieve versatile and robust legged locomotion. Our approach enhances the RL training process by incorporating on-demand…

A core strength of Model Predictive Control (MPC) for quadrupedal locomotion has been its ability to enforce constraints and provide interpretability of the sequence of commands over the horizon. However, despite being able to plan, MPC…

Safe path and gait planning are essential for bipedal robots to navigate complex real-world environments. The prevailing approaches often plan the path and gait separately in a hierarchical fashion, potentially resulting in unsafe movements…

Reinforcement learning (RL) has been successfully used in various simulations and computer games. Industry-related applications, such as autonomous mobile robot motion control, are somewhat challenging for RL up to date though. This paper…

Hybrid locomotion of wheeled-legged robots has recently attracted increasing attention due to their advantages of combining the agility of legged locomotion and the efficiency of wheeled motion. But along with expanded performance, the…

We present a new walking foot-placement controller based on 3LP, a 3D model of bipedal walking that is composed of three pendulums to simulate falling, swing and torso dynamics. Taking advantage of linear equations and closed-form solutions…

Biped robots are inherently unstable because of their complex kinematics as well as dynamics. Despite the many research efforts in developing biped locomotion, the performance of biped locomotion is still far from the expectations. This…

The remarkable athletic intelligence displayed by humans in complex dynamic movements such as dancing and gymnastics suggests that the balance mechanism in biological beings is decoupled from specific movement patterns. This decoupling…

This paper presents a scalable and adaptive control framework for legged robots that integrates Iterative Learning Control (ILC) with a biologically inspired torque library (TL), analogous to muscle memory. The proposed method addresses key…

Control of legged robots is a challenging problem that has been investigated by different approaches, such as model-based control and learning algorithms. This work proposes a novel Imitating and Finetuning Model Predictive Control (IFM)…

Reinforcement learning (RL) often necessitates a meticulous Markov Decision Process (MDP) design tailored to each task. This work aims to address this challenge by proposing a systematic approach to behavior synthesis and control for…