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

Mobile robotic platforms are an indispensable tool for various scientific and industrial applications. Robots are used to undertake missions whose execution is constrained by various factors, such as the allocated time or their remaining…

Centralized trajectory optimization in the joint space of multiple robots allows access to a larger feasible space that can result in smoother trajectories, especially while planning in tight spaces. Unfortunately, it is often…

Optimizing gait stability for legged robots is a difficult problem. Even on level surfaces, effectively traversing across different textures (e.g., carpet) rests on dynamically tuning parameters in multidimensional space. Inspired by…

This paper presents a novel contact-implicit trajectory optimization method using an analytically solvable contact model to enable planning of interactions with hard, soft, and slippery environments. Specifically, we propose a novel contact…

The most concentrated application of lower-limb rehabilitation exoskeleton (LLE) robot is that it can help paraplegics "re-walk". However, "walking" in daily life is more than just walking on flat ground with fixed gait. This paper focuses…

Reduced-order models (ROM) are popular in online motion planning due to their simplicity. A good ROM for control captures critical task-relevant aspects of the full dynamics while remaining low dimensional. However, planning within the…

Galloping is a common high-speed gait in both animals and quadrupedal robots, yet its energetic characteristics remain insufficiently explored. This study systematically analyzes a large number of possible galloping gaits by categorizing…

We present a unified approach for constraint displacement problems in which a robot finds a feasible path by displacing constraints or obstacles. To this end, we propose a two stage process that returns locally optimal obstacle…

Legged robots have the potential to traverse highly constrained environments with agile maneuvers. However, planning such motions requires solving a highly challenging optimization problem with a mixture of continuous and discrete decision…

This paper describes a topological approach to generating families of open- and closed-loop walking gaits for underactuated 2D and 3D biped walkers subject to configuration inequality constraints, physical holonomic constraints…

Robotics would gain by replicating the remarkable agility of arthropods in navigating complex environments. Here we consider the control of multi-legged systems which have 6 or more legs. Current multi-legged control strategies in robots…

Legged robots can traverse challenging terrain, use perception to plan their safe foothold positions, and navigate the environment. Such unique mobility capabilities make these platforms a perfect candidate for scenarios such as search and…

Typical legged locomotion controllers are designed or trained offline. This is in contrast to many animals, which are able to locomote at birth, and rapidly improve their locomotion skills with few real-world interactions. Such motor…

In this paper, a simple trajectory generation method for biped walking is proposed. The dynamic model of the five link bipedal robot is first reduced using several biologically inspired assumptions. A sinusoidal curve is then imposed to the…

Multi robot systems have the potential to be utilized in a variety of applications. In most of the previous works, the trajectory generation for multi robot systems is implemented in known environments. To overcome that we present an online…

In this paper we present a new approach for dynamic motion planning for legged robots. We formulate a trajectory optimization problem based on a compact form of the robot dynamics. Such a form is obtained by projecting the rigid body…

During learning trials, systems are exposed to different failure conditions which may break robotic parts before a safe behavior is discovered. Humans contour this problem by grounding their learning to a safer structure/control first and…

The recent availability of commercial-off-the-shelf (COTS) legged robot platforms have opened up new opportunities in deploying legged systems into different scenarios. While the main advantage of legged robots is their ability to traverse…

For multi-limbed robots, motion planning with posture and force constraints tends to be a difficult optimization problem due to nonlinearities, which also present extended solve times. We propose a multi-stage optimization framework with…

In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…