相关论文: Gait Optimization for Legged Systems Through Mixed…

Wheeled-legged robots combine the efficiency of wheels with the versatility of legs, but face significant energy optimization challenges when navigating diverse environments. In this work, we present a hierarchical control framework that…

In this work, we present a method for minimizing the time required for a redundant dual-arm robot to follow a desired relative Cartesian path at constant path speed by optimizing its joint trajectories, subject to position, velocity, and…

We consider a problem called task ordering with path uncertainty (TOP-U) where multiple robots are provided with a set of task locations to visit in a bounded environment, but the length of the path between a pair of task locations is…

A safety-critical measure of legged locomotion performance is a robot's ability to track its desired time-varying position trajectory in an environment, which is herein termed as "global-position tracking". This paper introduces a nonlinear…

Cooperative transportation, a key aspect of logistics cyber-physical systems (CPS), is typically approached using dis tributed control and optimization-based methods. The distributed control methods consume less time, but poorly handle and…

Faced with complex and unstructured construction environments, wheeled and tracked robots exhibit significant limitations in terrain adaptability and flexibility, making it difficult to meet the requirements of autonomous operation.…

Trajectory planning for connected and automated vehicles (CAVs) has the potential to improve operational efficiency and vehicle fuel economy in traffic systems. Despite abundant studies in this research area, most of them only consider…

In robotics, a common challenge in imitation learning is the mismatch between training and deployment conditions, caused, for example, by environmental changes or imperfect observation and control. When a robot follows a nominal trajectory…

We propose a regularized saddle-point algorithm for convex networked optimization problems with resource allocation constraints. Standard distributed gradient methods suffer from slow convergence and require excessive communication when…

The complexities in the dynamic model of the legged robots make it necessary to utilize model-free controllers in the task of trajectory tracking. In This paper, an adaptive transpose Jacobian approach is proposed to deal with the dynamic…

This work tries to contribute to the design of legged robots with capabilities boosted through thruster-assisted locomotion. Our long-term goal is the development of robots capable of negotiating unstructured environments, including land…

One of the big attractions of low-dimensional models for gait design has been the ability to compute solutions rapidly, whereas one of their drawbacks has been the difficulty in mapping the solutions back to the target robot. This paper…

A vast number of applications for legged robots entail tasks in complex, dynamic environments. But these environments put legged robots at high risk for limb damage. This paper presents an empirical study of fault tolerant dynamic gaits…

Locomotion of legged machines faces the problems of model complexity and computational costs. Algorithms based on complex models and/or reinforcement learning exist to solve the walking control task. In this project, we aim to develop a…

Centipedes exhibit great maneuverability in diverse environments due to their many legs and body-driven control. By leveraging similar morphologies and control strategies, their robotic counterparts also demonstrate effective terrestrial…

As robotic systems continue to address emerging issues in areas such as logistics, mobility, manufacturing, and disaster response, it is increasingly important to rapidly generate safe and energy-efficient trajectories. In this article, we…

Distributed pose graph optimization (DPGO) is one of the fundamental techniques of swarm robotics. Currently, the sub-problems of DPGO are built on the native poses. Our validation proves that this approach may introduce an imbalance in the…

Non-analytical objectives and constraints often arise in control systems, particularly in problems with complex dynamics, which are challenging yet lack efficient solution methods. In this work, we consider general constrained optimization…

In this paper we present advancements in control and trajectory generation for agile behavior in bipedal robots. We demonstrate that Whole-Body Operational Space Control (WBOSC), developed a few years ago, is well suited for achieving two…

Step adjustment can improve the gait robustness of biped robots, however the adaptation of step timing is often neglected as it gives rise to non-convex problems when optimized over several footsteps. In this paper, we argue that it is not…