相关论文: Coupled Chaotic Oscillators and Its Relation with …
Legged robot research is presently focused on bipedal or quadrupedal robots, despite capabilities to build robots with many more legs to potentially improve locomotion performance. This imbalance is not necessarily due to hardware…
Using an expansion in order parameters, the equation of motion for the centroid of globally coupled oscillators with natural frequencies taken from a distribution is obtained for the case of high coupling, low dispersion of natural…
We present a methodology for synchronization of chaotic oscillators with linear feedback control. The proposed method is based on analyzing the chaotic oscillator as a multi-mode linear system and deriving sufficient conditions for…
Model Predictive Control (MPC) is a common tool for the control of nonlinear, real-world systems, such as legged robots. However, solving MPC quickly enough to enable its use in real-time is often challenging. One common solution is given…
Advances in legged robotics are strongly rooted in animal observations. A clear illustration of this claim is the generalization of Central Pattern Generators (CPG), first identified in the cat spinal cord, to generate cyclic motion in…
Gait generation for soft robots is challenging due to the nonlinear dynamics and high dimensional input spaces of soft actuators. Limitations in soft robotic control and perception force researchers to hand-craft open loop controllers for…
This paper describes a topological approach to generating families of open- and closed-loop walking gaits for underactuated 2D and 3D biped walkers subject to configuration inequality constraints, physical holonomic constraints…
Our paper proposes a model predictive controller as a single-task formulation that simultaneously optimizes wheel and torso motions. This online joint velocity and ground reaction force optimization integrates a kinodynamic model of a…
Ensembles of phase-oscillators are known to exhibit a variety of collective regimes. Here, we show that a simple mean-field model involving two heterogenous populations of pulse-coupled oscillators, exhibits, in the strong-coupling limit, a…
This paper presents the result of the investigation of chaotic oscillator synchronization. A new approach for detecting of synchronized behaviour of chaotic oscillators has been proposed. This approach is based on the analysis of different…
Robots operating in human environments need various skills, like slow and fast walking, turning, side-stepping, and many more. However, building robot controllers that can exhibit such a large range of behaviors is a challenging problem…
It is often overlooked by roboticists when designing locomotion controllers for their legged machines, that energy consumption plays an important role in selecting the best gaits for locomotion at high speeds or over long distances. The…
Legged robots are able to navigate complex terrains by continuously interacting with the environment through careful selection of contact sequences and timings. However, the combinatorial nature behind contact planning hinders the…
The study of synchronization in populations of coupled biological oscillators is fundamental to many areas of biology to include neuroscience, cardiac dynamics and circadian rhythms. Studying these systems may involve tracking the…
The paper proposes a new calibration method for parallel manipulators that allows efficient identification of the joint offsets using observations of the manipulator leg parallelism with respect to the base surface. The method employs a…
Robot controllers are often optimised for a single robot in a single environment. This approach proves brittle, as such a controller will often fail to produce sensible behavior for a new morphology or environment. In comparison, animal…
This paper presents three feedback controllers that achieve an asymptotically stable, periodic, and fast walking gait for a 3D (spatial) bipedal robot consisting of a torso, two legs, and passive (unactuated) point feet. The contact between…
Gait analysis (GA) has been widely used in physical activity monitoring and clinical contexts, and the estimation of the spatial-temporal gait parameters is of primary importance for GA. With the quick development of smart tiny sensors, GA…
It remains challenging to achieve human-like locomotion in legged robots due to fundamental discrepancies between biological and mechanical structures. Although imitation learning has emerged as a promising approach for generating natural…
As cities around the world aim to improve walkability and safety, understanding the irregular and unpredictable nature of pedestrian behavior has become increasingly important. This study introduces a data-driven framework for modeling…