相关论文: One-Chip Solution to Intelligent Robot Control: Im…
Legged robots have significant potential to operate in highly unstructured environments. The design of locomotion control is, however, still challenging. Currently, controllers must be either manually designed for specific robots and tasks,…
This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, based…
Bio-inspired control of motion is an active field of research with many applications in real world tasks. In the case of robotic systems that need to exhibit oscillatory behaviour (i.e. locomotion of snake-type or legged robots), Central…
Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…
Dynamic control of a soft-body robot to deliver complex behaviors with low-dimensional actuation inputs is challenging. In this paper, we present a computational approach to automatically generate versatile, underactuated control policies…
Dexterous in-hand manipulation offers significant potential to enhance robotic manipulator capabilities. This paper presents a sensori-motor architecture for in-hand slip-aware control, being embodied in a sensorized gripper. The gripper in…
Collaboration is central to human behavior, enabling tasks beyond individual capability. This ability arises from coordinating actions through internal representations of others, a concept known as shared intelligence. Additionally, humans…
Robotic grasping, the ability of robots to reliably secure and manipulate objects of varying shapes, sizes and orientations, is a complex task that requires precise perception and control. Deep neural networks have shown remarkable success…
Singularity in robot controls is an important problem. By identifying an appropriate trajectory for the robots, the singular situations can be avoided. In this paper an identification algorithm is proposed to control the robot such that it…
Legged locomotion enables robotic systems to traverse extremely challenging terrains. In many real-world scenarios, the terrain is not that difficult and these mixed terrain types introduce the need for flexible use of different walking…
Bipedal robots promise the ability to traverse rough terrain quickly and efficiently, and indeed, humanoid robots can now use strong ankles and careful foot placement to traverse discontinuous terrain. However, more agile underactuated…
Bipedal robots are a fascinating and advanced category of robots designed to mimic human form and locomotion. The development of the bipedal robots is a significant milestone in robotics. However, even the most advanced bipedal robots are…
Isambard-AI is a new, leadership-class supercomputer, designed to support AI-related research. Based on the HPE Cray EX4000 system, and housed in a new, energy efficient Modular Data Centre in Bristol, UK, Isambard-AI employs 5,448 NVIDIA…
We present a new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. It consists of a high-torque brushless DC motor and a low-gear-ratio transmission suitable for impedance and…
We present an integrated approach to locomotion and balancing of humanoid robots based on direct centroidal control. Our method uses a five-mass description of a humanoid. It generates whole-body motions from desired foot trajectories and…
Robust closed-loop locomotion remains challenging for soft quadruped robots due to high-dimensional dynamics, actuator hysteresis, and difficult-to-model contact interactions, while conventional proprioception provides limited information…
Simulation-based RL for contemporary robot control is increasingly organized around GPU-resident simulation: physics, rollout collection, and learning are placed on a single GPU-centric execution path. This paradigm has greatly improved…
Adaptive control can address model uncertainty in control systems. However, it is preliminarily designed for tracking control. Recent advancements in the control of quadruped robots show that force control can effectively realize agile and…
Loco-Manipulation for humanoid robots aims to enable robots to integrate mobility with upper-body tracking capabilities. Most existing approaches adopt hierarchical architectures that decompose control into isolated upper-body…
Humanoid robots have the potential to mimic human motions with high visual fidelity, yet translating these motions into practical, physical execution remains a significant challenge. Existing techniques in the graphics community often…