相关论文: Geometric Gait Optimization for Kinodynamic System…

The present paper proposes a unified geometric framework for coordinated motion on Lie groups. It first gives a general problem formulation and analyzes ensuing conditions for coordinated motion. Then, it introduces a precise method to…

Successfully achieving bipedal locomotion remains challenging due to real-world factors such as model uncertainty, random disturbances, and imperfect state estimation. In this work, we propose a novel metric for locomotive robustness -- the…

This paper presents a generalization of conventional sliding mode control designs for systems in Euclidean spaces to fully actuated simple mechanical systems whose configuration space is a Lie group for the trajectory-tracking problem. A…

Taking inspiration from the natural gait transition mechanism of quadrupeds, devising a good gait transition strategy is important for quadruped robots to achieve energy-efficient locomotion on various terrains and velocities. While…

This paper aims to improve the path quality and computational efficiency of kinodynamic planners used for vehicular systems. It proposes a learning framework for identifying promising controls during the expansion process of sampling-based…

In this paper, we derive the continuous space-time equations of motion of a three-dimensional geometrically exact rod, or the Cosserat rod, incorporating planar cross-sectional deformation. We then adopt the Lie group variational integrator…

In this paper, we introduce dynamics factor graphs as a graphical framework to solve dynamics problems and kinodynamic motion planning problems with full consideration of whole-body dynamics and contacts. A factor graph representation of…

It is challenging to perform system identification on soft robots due to their underactuated, high-dimensional dynamics. In this work, we present a data-driven modeling framework, based on geometric mechanics (also known as gauge theory)…

Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down and lift-off events and holonomic constraints for each leg.…

Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down and lift-off events and holonomic constraints for each leg.…

Geometric integration of non-autonomous classical engineering problems, such as rotor dynamics, is investigated. It is shown, both numerically and by backward error analysis, that geometric (structure preserving) integration algorithms are…

Trajectory optimization is a widely used technique in robot motion planning for letting the dynamics and constraints on the system shape and synthesize complex behaviors. Several previous works have shown its benefits in high-dimensional…

Rigid body dynamics on the rotation group have typically been represented in terms of rotation matrices, unit quaternions, or local coordinates, such as Euler angles. Due to the coordinate singularities associated with local coordinate…

This paper presents a Q-learning framework for learning optimal locomotion gaits in robotic systems modeled as coupled rigid bodies. Inspired by prevalence of periodic gaits in bio-locomotion, an open loop periodic input is assumed to (say)…

Trajectory optimization is an essential tool for generating efficient, dynamically consistent gaits in legged locomotion. This paper explores the indirect method of trajectory optimization, emphasizing its application in creating optimal…

Reduced-order-model-based optimal control techniques for humanoid locomotion struggle to adapt step duration and placement simultaneously in dynamic walking gaits due to their reliance on fixed-time discretization, which limits…

The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state…

This paper develops different discretization schemes for nonholonomic mechanical systems through a discrete geometric approach. The proposed methods are designed to account for the special geometric structure of the nonholonomic motion. Two…

In this work, we introduce LazyBoE, a multi-query method for kinodynamic motion planning with forward propagation. This algorithm allows for the simultaneous exploration of a robot's state and control spaces, thereby enabling a wider suite…

We present a method that finds locomanipulation plans that perform simultaneous locomotion and manipulation of objects for a desired end-effector trajectory. Key to our approach is to consider a generic locomotion constraint manifold that…