Optimization-based control for dynamic legged robots
In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to
impact emerging robotics applications from logistics, to agriculture, to home assistance. The …
impact emerging robotics applications from logistics, to agriculture, to home assistance. The …
Recent progress in legged robots locomotion control
J Carpentier, PB Wieber - Current Robotics Reports, 2021 - Springer
Purpose of review In recent years, legged robots locomotion has been transitioning from
mostly flat ground in controlled settings to generic indoor and outdoor environments …
mostly flat ground in controlled settings to generic indoor and outdoor environments …
High-speed quadrupedal locomotion by imitation-relaxation reinforcement learning
Y Jin, X Liu, Y Shao, H Wang, W Yang - Nature Machine Intelligence, 2022 - nature.com
Fast and stable locomotion of legged robots involves demanding and contradictory
requirements, in particular rapid control frequency as well as an accurate dynamics model …
requirements, in particular rapid control frequency as well as an accurate dynamics model …
An overview on bipedal gait control methods
C Hu, S Xie, L Gao, S Lu, J Li - IET Collaborative Intelligent …, 2023 - Wiley Online Library
Bipedal gait control has always been a very challenging issue due to the multi‐joint and non‐
linear structure of humanoid robots and frequent robot–environment interactions. To realise …
linear structure of humanoid robots and frequent robot–environment interactions. To realise …
Biconmp: A nonlinear model predictive control framework for whole body motion planning
Online planning of whole-body motions for legged robots is challenging due to the inherent
nonlinearity in the robot dynamics. In this work, we propose a nonlinear model predictive …
nonlinearity in the robot dynamics. In this work, we propose a nonlinear model predictive …
Efficient multicontact pattern generation with sequential convex approximations of the centroidal dynamics
This article investigates the problem of efficient computation of physically consistent
multicontact behaviors. Recent work showed that under mild assumptions, the problem …
multicontact behaviors. Recent work showed that under mild assumptions, the problem …
Zero dynamics, pendulum models, and angular momentum in feedback control of bipedal locomotion
Y Gong, JW Grizzle - Journal of Dynamic Systems …, 2022 - asmedigitalcollection.asme.org
Low-dimensional models are ubiquitous in the bipedal robotics literature. On the one hand
is the community of researchers that bases feedback control design on pendulum models …
is the community of researchers that bases feedback control design on pendulum models …
Variable horizon mpc with swing foot dynamics for bipedal walking control
E Daneshmand, M Khadiv… - IEEE Robotics and …, 2021 - ieeexplore.ieee.org
In this letter, we present a novel two-level variable Horizon Model Predictive Control (VH-
MPC) framework for bipedal locomotion. In this framework, the higher level computes the …
MPC) framework for bipedal locomotion. In this framework, the higher level computes the …
Robust locomotion exploiting multiple balance strategies: An observer-based cascaded model predictive control approach
Robust locomotion is a challenging task for humanoid robots, especially when considering
dynamic disturbances. This article proposes a disturbance observer-based cascaded model …
dynamic disturbances. This article proposes a disturbance observer-based cascaded model …
Balance gait controller for a bipedal robotic walker with foot slip
Low-friction ground conditions present a navigation challenge for bipedal robotic
locomotion. While robots might traverse slippery surfaces by carefully planning trajectories …
locomotion. While robots might traverse slippery surfaces by carefully planning trajectories …