相关论文: Extended Hybrid Zero Dynamics for Bipedal Walking …

The ability to generate robust walking gaits on bipedal robots is key to their successful realization on hardware. To this end, this work extends the method of Hybrid Zero Dynamics (HZD) -- which traditionally only accounts for locomotive…

The hybrid zero dynamics (HZD) approach has become a powerful tool for the gait planning and control of bipedal robots. This paper aims to extend the HZD methods to address walking, ambling and trotting behaviors on a quadrupedal robot. We…

This paper presents a novel model-free reinforcement learning (RL) framework to design feedback control policies for 3D bipedal walking. Existing RL algorithms are often trained in an end-to-end manner or rely on prior knowledge of some…

The design of feedback controllers for bipedal robots is challenging due to the hybrid nature of its dynamics and the complexity imposed by high-dimensional bipedal models. In this paper, we present a novel approach for the design of…

This paper presents a framework that leverages both control theory and machine learning to obtain stable and robust bipedal locomotion without the need for manual parameter tuning. Traditionally, gaits are generated through trajectory…

The hybrid zero dynamics control concept for bipedal walking is extended to include a non-instantaneous double support phase. A symmetric robot that consists of five rigid body segments which are connected by four actuated revolute joints…

Selecting robot design parameters can be challenging since these parameters are often coupled with the performance of the controller and, therefore, the resulting capabilities of the robot. This leads to a time-consuming and often expensive…

Although recent years have seen significant progress of humanoid robots in walking and running, the frequent foot strikes with ground during these locomotion gaits inevitably generate high instantaneous impact forces, which leads to…

Realizing bipedal locomotion on humanoid robots with point feet is especially challenging due to their highly underactuated nature, high degrees of freedom, and hybrid dynamics resulting from impacts. With the goal of addressing this…

Sprawling locomotion in vertebrates, particularly salamanders, demonstrates how body undulation and spinal mobility enhance stability, maneuverability, and adaptability across complex terrains. While prior work has separately explored…

Bipedal robots have received much attention because of the variety of motion maneuvers that they can produce, and the many applications they have in various areas including rehabilitation. One of these motion maneuvers is walking. In this…

Generating stable walking gaits that yield natural locomotion when executed on robotic-assistive devices is a challenging task that often requires hand-tuning by domain experts. This paper presents an alternative methodology, where we…

We present a highly reactive controller which enables bipedal robots to blindly walk over various kinds of uneven terrains while resisting pushes. The high level motion planner does fast online optimization for footstep locations and Center…

This paper systematically decomposes a quadrupedal robot into bipeds to rapidly generate walking gaits and then recomposes these gaits to obtain quadrupedal locomotion. We begin by decomposing the full-order, nonlinear and hybrid dynamics…

This paper presents a neural-network based adaptive feedback control structure to regulate the velocity of 3D bipedal robots under dynamics uncertainties. Existing Hybrid Zero Dynamics (HZD)-based controllers regulate velocity through the…

The Extra Robotic Legs (XRL) system is a robotic augmentation worn by a human operator consisting of two articulated robot legs that walk with the operator and help bear a heavy backpack payload. It is desirable for the Human-XRL quadruped…

The importance of humanoid robots in today's world is undeniable, one of the most important features of humanoid robots is the ability to maneuver in environments such as stairs that other robots can not easily cross. A suitable algorithm…

In this paper, we propose a multi-domain control parameter learning framework that combines Bayesian Optimization (BO) and Hybrid Zero Dynamics (HZD) for locomotion control of bipedal robots. We leverage BO to learn the control parameters…

Bipedal walking is one of the most difficult but exciting challenges in robotics. The difficulties arise from the complexity of high-dimensional dynamics, sensing and actuation limitations combined with real-time and computational…

We present a trajectory planning and control architecture for bipedal locomotion at a variety of speeds on a highly underactuated and compliant bipedal robot. A library of compliant walking trajectories are planned offline, and stored as…