相关论文: Real-Time Gait Adaptation for Quadrupeds using Mod…

Model Predictive Control (MPC) has become a popular framework in embedded control for high-performance autonomous systems. However, to achieve good control performance using MPC, an accurate dynamics model is key. To maintain real-time…

Quadruped animals are capable of exhibiting a diverse range of locomotion gaits. While progress has been made in demonstrating such gaits on robots, current methods rely on motion priors, dynamics models, or other forms of extensive manual…

This paper addresses the challenge of terrain-adaptive dynamic locomotion in humanoid robots, a problem traditionally tackled by optimization-based methods or reinforcement learning (RL). Optimization-based methods, such as model-predictive…

Efficient robot control often requires balancing task performance with energy expenditure. A common approach in reinforcement learning (RL) is to penalize energy use directly as part of the reward function. This requires carefully tuning…

This paper presents a real-time gait driven training framework for humanoid robots. First, we introduce a novel gait planner that incorporates dynamics to design the desired joint trajectory. In the gait design process, the 3D robot model…

We present a sampling-based model predictive control (MPC) framework that enables emergent locomotion without relying on handcrafted gait patterns or predefined contact sequences. Our method discovers diverse motion patterns, ranging from…

We present a unified model-based and data-driven approach for quadrupedal planning and control to achieve dynamic locomotion over uneven terrain. We utilize on-board proprioceptive and exteroceptive feedback to map sensory information and…

Perceptive locomotion for legged robots requires anticipating and adapting to complex, dynamic environments. Model Predictive Control (MPC) serves as a strong baseline, providing interpretable motion planning with constraint enforcement,…

Equipping quadruped robots with manipulators provides unique loco-manipulation capabilities, enabling diverse practical applications. This integration creates a more complex system that has increased difficulties in modeling and control.…

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…

Model predictive control (MPC) has established itself as the primary methodology for constrained control, enabling general-purpose robot autonomy in diverse real-world scenarios. However, for most problems of interest, MPC relies on the…

The successful operation of mobile robots requires them to adapt rapidly to environmental changes. To develop an adaptive decision-making tool for mobile robots, we propose a novel algorithm that combines meta-reinforcement learning…

In the backdrop of an increasingly pressing need for effective urban and highway transportation systems, this work explores the synergy between model-based and learning-based strategies to enhance traffic flow management by use of an…

Convex model predictive controls (MPCs) with a single rigid body model have demonstrated strong performance on real legged robots. However, convex MPCs are limited by their assumptions such as small rotation angle and pre-defined gait,…

Cooperative control of groups of autonomous vehicles (AVs), i.e., platoons, is a promising direction to improving the efficiency of autonomous transportation systems. In this context, distributed co-optimization of both vehicle speed and…

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…

This work presents an optimal sampling-based method to solve the real-time motion planning problem in static and dynamic environments, exploiting the Rapid-exploring Random Trees (RRT) algorithm and the Model Predictive Path Integral (MPPI)…

We present a framework for learning visually-guided quadruped locomotion by integrating exteroceptive sensing and central pattern generators (CPGs), i.e. systems of coupled oscillators, into the deep reinforcement learning (DRL) framework.…

This study focuses on the locomotion capability improvement in a tendon-driven soft quadruped robot through an online adaptive learning approach. Leveraging the inverse kinematics model of the soft quadruped robot, we employ a central…

Designing agile locomotion for quadruped robots often requires extensive expertise and tedious manual tuning. In this paper, we present a system to automate this process by leveraging deep reinforcement learning techniques. Our system can…