相关论文: Real-time Coupled Centroidal Motion and Footstep P…

By the recent spread of machine learning in the robotics field, a humanoid that can act, perceive, and learn in the real world through contact with the environment needs to be developed. In this study, as one of the choices, we propose a…

We propose an online motion planner for legged robot locomotion with the primary objective of achieving energy efficiency. The conceptual idea is to leverage a placement set of footstep positions based on the robot's body position to…

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…

The ability of bipedal robots to adapt to diverse and unstructured terrain conditions is crucial for their deployment in real-world environments. To this end, we present a novel, bio-inspired robot foot design with stabilizing tarsal…

This paper presents a multi-phase whole-body model predictive control approach for bipedal walking, combining a detailed whole-body model in the near horizon with a simplified single-rigid-body model in the later prediction steps. This…

The aim of coordinated planning is to avoid robot-to-robot collisions in a multi-robot system, and there are two standard solution approaches: centralized planning and decoupled planning. Our first contribution is a decoupled planning…

Many real-world walking scenarios contain obstacles and unsafe ground patches (e.g., slippery or cluttered areas), leaving a disconnected set of admissible footholds that can be modeled as stepping-stone-like regions. We propose an onboard,…

This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to predict the pose of obstacles in the environment and avoid…

We present a unified probabilistic framework for simultaneous trajectory estimation and planning (STEAP). Estimation and planning problems are usually considered separately, however, within our framework we show that solving them…

Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…

Legged robot research is presently focused on bipedal or quadrupedal robots, despite capabilities to build robots with many more legs to potentially improve locomotion performance. This imbalance is not necessarily due to hardware…

Humanoid robots maintain balance and navigate by controlling the contact wrenches applied to the environment. While it is possible to plan dynamically-feasible motion that applies appropriate wrenches using existing methods, a humanoid may…

Task and motion planning is a well-established approach for solving long-horizon robot planning problems. However, traditional methods assume that each task-level robot action, or skill, can be reduced to kinematic motion planning. We…

Swing arms have an irreplaceable role in promoting highly dynamic locomotion on bipedal robots by a larger angular momentum control space from the viewpoint of biomechanics. Few bipedal robots utilize swing arms and its redundancy…

This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…

This work presents a motion retargeting approach for legged robots, aimed at transferring the dynamic and agile movements to robots from source motions. In particular, we guide the imitation learning procedures by transferring motions from…

Achieving stable and robust perceptive locomotion for bipedal robots in unstructured outdoor environments remains a critical challenge due to complex terrain geometry and susceptibility to external disturbances. In this work, we propose a…

This paper studies real-time motion planning and control for ball bumping motion with quadruped robots. To enable the quadruped to bump the flying ball with different initializations, we develop a nonlinear trajectory optimization-based…

Manipulators can be added to legged robots, allowing them to interact with and change their environment. Legged mobile manipulation planners must consider how contact forces generated by these manipulators affect the system. Current…

We present a control framework that enables humanoid robots to perform collaborative transportation tasks with a human partner. The framework supports both translational and rotational motions, which are fundamental to co-transport…