相关论文: Online Friction Coefficient Identification for Leg…
Controlling Wheeled-legged robots is challenging especially on slippery surfaces due to their dependence on continuous ground contact. Unlike quadrupeds or bipeds, which can leverage multiple fixed contact points for recovery,…
Identifying the parameters of robotic systems, such as motor inertia or joint friction, is critical to satisfactory controller synthesis, model analysis, and observer design. Conventional identification techniques are designed primarily for…
In this article, we propose a deep learning framework that provides a unified approach to the problem of leg contact detection in humanoid robot walking gaits. Our formulation accomplishes to accurately and robustly estimate the contact…
Dynamics simulation with frictional contacts is important for a wide range of applications, from cloth simulation to object manipulation. Recent methods using smoothed lagged friction forces have enabled robust and differentiable simulation…
Legged robots face significant challenges in navigating complex environments, as they require precise real-time decisions for foothold selection and contact planning. While existing research has explored methods to select footholds based on…
Legged systems need to optimize contact force in order to maintain contacts. For this, the controller needs to have the knowledge of the surface geometry and how slippery the terrain is. We can use a vision system to realize the terrain,…
State-of-the-art robotic perception systems have achieved sufficiently good performance using Inertial Measurement Units (IMUs), cameras, and nonlinear optimization techniques, that they are now being deployed as technologies. However, many…
Legged robots are well-suited for broad exploration tasks in complex environments with yielding terrain. Understanding robotic foot-terrain interactions is critical for safe locomotion and walking efficiency for legged robots. This paper…
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…
Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such methods is their robustness in the face of non-smooth and…
Fall recovery for legged robots remains challenging, particularly on complex terrains where traditional controllers fail due to incomplete terrain perception and uncertain interactions. We present \textbf{FR-Net}, a learning-based framework…
To generate reliable motion for legged robots through trajectory optimization, it is crucial to simultaneously compute the robot's path and contact sequence, as well as accurately consider the dynamics in the problem formulation. In this…
We present the design of a low-cost wheeled mobile robot, and an analytical model for predicting its motion under the influence of motor torques and friction forces. Using our proposed model, we show how to analytically compute the gradient…
Precise identification of dynamic models in robotics is essential to support control design, friction compensation, output torque estimation, etc. A longstanding challenge remains in the identification of friction models for robotic joints,…
The accurate online estimation of the road-friction coefficient is an essential feature for any advanced brake control system. In this study, a data-driven scheme based on a MLP Neural Net is proposed to estimate the optimum friction…
Legged robots, specifically quadrupeds, are becoming increasingly attractive for industrial applications such as inspection. However, to leave the laboratory and to become useful to an end user requires reliability in harsh conditions. From…
Legged robot navigation in unstructured and slippery terrains depends heavily on the ability to accurately identify the quality of contact between the robot's feet and the ground. Contact state estimation is regarded as a challenging…
Attaining animal-like legged locomotion on rough outdoor terrain with sparse foothold affordances -a primary use-case for legs vs other forms of locomotion- is a largely open problem. New advancements in control and perception have enabled…
Trajectory optimization with contact-rich behaviors has recently gained attention for generating diverse locomotion behaviors without pre-specified ground contact sequences. However, these approaches rely on precise models of robot dynamics…
Accurate knowledge of the tire-road friction coefficient (TRFC) is essential for vehicle safety, stability, and performance, especially in autonomous racing, where vehicles often operate at the friction limit. However, TRFC cannot be…