相关论文: A Three-Stage Offline SDRE-Based Control Framework…
Robotic locomotion research typically draws from biologically inspired leg designs, yet many human-engineered settings can benefit from non-anthropomorphic forms. TARS3D translates the block-shaped 'TARS' robot from Interstellar into a 0.25…
Similar to their counterparts in nature, the flexible bodies of snake-like robots enhance their movement capability and adaptability in diverse environments. However, this flexibility corresponds to a complex control task involving highly…
The present research as described in this paper tries to impart how imitation based learning for behavior-based programming can be used to teach the robot. This development is a big step in way to prove that push recovery is a software…
Learning human-like, robust bipedal walking remains difficult due to hybrid dynamics and terrain variability. We propose a lightweight framework that combines a gait generator network learned from human motion with Proximal Policy…
Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…
Exoskeletons show great promise for enhancing mobility, but providing appropriate assistance remains challenging due to the complexity of human adaptation to external forces. Current state-of-the-art approaches for optimizing exoskeleton…
In this work, we propose a learning approach for 3D dynamic bipedal walking when footsteps are constrained to stepping stones. While recent work has shown progress on this problem, real-world demonstrations have been limited to relatively…
This study presents an innovative approach to optimal gait control for a soft quadruped robot enabled by four Compressible Tendon-driven Soft Actuators (CTSAs). Improving our previous studies of using model-free reinforcement learning for…
As humanoid robots enter real-world environments, ensuring robust locomotion across diverse environments is crucial. This paper presents a computationally efficient hierarchical control framework for humanoid robot locomotion based on…
Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a…
The continuous monitoring by drone swarms remains a challenging problem due to the lack of power supply and the inability of drones to land on uneven surfaces. Heterogeneous swarms, including ground and aerial vehicles, can support longer…
We are motivated by the real challenges presented in a human-robot system to develop new designs that are efficient at data level and with performance guarantees such as stability and optimality at systems level. Existing…
Certain forms of uncertainty that robotic systems encounter can be explicitly learned within the context of a known model, like parametric model uncertainties such as mass and moments of inertia. Quantifying such parametric uncertainty is…
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…
Safe robot motion generation is critical for practical applications from manufacturing to homes. In this work, we proposed a stochastic optimization-based motion generation method to generate collision-free and time-optimal motion for the…
Performing highly agile dynamic motions, such as jumping or running on uneven stepping stones has remained a challenging problem in legged robot locomotion. This paper presents a framework that combines trajectory optimization and model…
Utilizing orthoses and exoskeleton technology in various applications and medical industries, particularly to help elderly and ordinary people in their daily activities is a new growing field for research institutes. In this paper, after…
Complex robotic systems require whole-body controllers to deal with contact interactions, handle closed kinematic chains, and track task-space control objectives. However, for many applications, safety-critical controllers are important to…
Bipedal locomotion is a key challenge in robotics, particularly for robots like Bolt, which have a point-foot design. This study explores the control of such underactuated robots using constrained reinforcement learning, addressing their…
In this paper, we present an integrated human-in-the-loop simulation paradigm for the design and evaluation of a lower extremity exoskeleton that is elastically strapped onto human lower limbs. The exoskeleton has 3 rotational DOFs on each…