相关论文: Probabilistically-Safe Bipedal Navigation over Unc…

We study the problem of bipedal robot navigation in complex environments with uncertain and rough terrain. In particular, we consider a scenario in which the robot is expected to reach a desired goal location by traversing an environment…

Collapsing terrains, often present in search and rescue missions or planetary exploration, pose significant challenges for quadruped robots. This paper introduces a robust locomotion framework for safe navigation over unstable surfaces by…

This paper formally develops a novel hierarchical planning and control framework for robust payload transportation by quadrupedal robots, integrating a model predictive control (MPC) algorithm with a gradient-descent-based adaptive updating…

Humanoid robots offer significant advantages for search and rescue tasks, thanks to their capability to traverse rough terrains and perform transportation tasks. In this study, we present a task and motion planning framework for search and…

Ensuring safe navigation in human-populated environments is crucial for autonomous mobile robots. Although recent advances in machine learning offer promising methods to predict human trajectories in crowded areas, it remains unclear how…

Nonlinearity in dynamics has long been a major challenge in robotics, often causing significant performance degradation in existing control algorithms. For example, the navigation of bipedal robots can exhibit nonlinear behaviors even under…

It is a challenging task for ground robots to autonomously navigate in harsh environments due to the presence of non-trivial obstacles and uneven terrain. This requires trajectory planning that balances safety and efficiency. The primary…

Uncertainty-aware robot motion prediction is crucial for downstream traversability estimation and safe autonomous navigation in unstructured, off-road environments, where terrain is heterogeneous and perceptual uncertainty is high. Most…

Safe path and gait planning are essential for bipedal robots to navigate complex real-world environments. The prevailing approaches often plan the path and gait separately in a hierarchical fashion, potentially resulting in unsafe movements…

Robotic tasks which involve uncertainty--due to variation in goal, environment configuration, or confidence in task model--may require human input to instruct or adapt the robot. In tasks with physical contact, several existing methods for…

We propose a framework for planning in unknown dynamic environments with probabilistic safety guarantees using conformal prediction. Particularly, we design a model predictive controller (MPC) that uses i) trajectory predictions of the…

Recent advances in quadrupedal locomotion have focused on improving stability and performance across diverse environments. However, existing methods often lack adequate safety analysis and struggle to adapt to varying payloads and complex…

This paper proposes a novel control framework for agile and robust bipedal locomotion, addressing model discrepancies between full-body and reduced-order models. Specifically, assumptions such as constant centroidal inertia have introduced…

Model predictive control (MPC) has demonstrated effectiveness for humanoid bipedal locomotion; however, its applicability in challenging environments, such as rough and slippery terrain, is limited by the difficulty of modeling terrain…

Designing provably safe control is a core problem in trustworthy autonomy. However, most prior work in this regard assumes either that the system dynamics are known or deterministic, or that the state and action space are finite,…

Linear Model Predictive Control (MPC) has been successfully used for generating feasible walking motions for humanoid robots. However, the effect of uncertainties on constraints satisfaction has only been studied using Robust MPC (RMPC)…

This study presents an enhanced theoretical formulation for bipedal hierarchical control frameworks under uneven terrain conditions. Specifically, owing to the inherent limitations of the Linear Inverted Pendulum Model (LIPM) in handling…

Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…

Safety is a critical issue in learning-based robotic and autonomous systems as learned information about their environments is often unreliable and inaccurate. In this paper, we propose a risk-aware motion control tool that is robust…

Bipedal robots have advantages in maneuvering human-centered environments, but face greater failure risk compared to other stable mobile platforms such as wheeled or quadrupedal robots. While learning-based traversability has been widely…