Design and control of a miniature bipedal robot with proprioceptive actuation for dynamic behaviors
As the study of humanoid robots becomes a world-wide interdisciplinary research field, the
demand for a cost-effective bipedal robot system capable of dynamic behaviors is growing …
demand for a cost-effective bipedal robot system capable of dynamic behaviors is growing …
Conventional, Heuristic and Learning-Based Robot Motion Planning: Reviewing Frameworks of Current Practical Significance
Motion planning algorithms have seen considerable progress and expansion across various
domains of science and technology during the last few decades, where rapid advancements …
domains of science and technology during the last few decades, where rapid advancements …
Cdm-mpc: An integrated dynamic planning and control framework for bipedal robots jum**
Performing acrobatic maneuvers like dynamic jum** in bipedal robots presents significant
challenges in terms of actuation, motion planning, and control. Traditional approaches to …
challenges in terms of actuation, motion planning, and control. Traditional approaches to …
Motion planning for a climbing robot with stochastic grasps
S Newdick, N Ongole, TG Chen… - … on Robotics and …, 2023 - ieeexplore.ieee.org
ReachBot is a robot that uses extendable and retractable booms as limbs to move around
unpredictable environments such as martian caves. Each boom is capped by a microspine …
unpredictable environments such as martian caves. Each boom is capped by a microspine …
Risk-aware motion planning for a limbed robot with stochastic grip** forces using nonlinear programming
We present a motion planning algorithm with probabilistic guarantees for limbed robots with
stochastic grip** forces. Planners based on deterministic models with a worst-case …
stochastic grip** forces. Planners based on deterministic models with a worst-case …
Transition motion planning for multi-limbed vertical climbing robots using complementarity constraints
In order to achieve autonomous vertical wall climbing, the transition phase from the ground
to the wall requires extra consideration inevitably. This paper focuses on the contact …
to the wall requires extra consideration inevitably. This paper focuses on the contact …
Generalized benders decomposition with continual learning for hybrid model predictive control in dynamic environment
X Lin - arxiv preprint arxiv:2310.03344, 2023 - arxiv.org
Hybrid model predictive control (MPC) with both continuous and discrete variables is widely
applicable to robotic control tasks, especially those involving contact with the environment …
applicable to robotic control tasks, especially those involving contact with the environment …
Reduce: Reformulation of mixed integer programs using data from unsupervised clusters for learning efficient strategies
Mixed integer convex and nonlinear programs, MICP and MINLP, are expressive but require
long solving times. Recent work that combines learning methods on solver heuristics has …
long solving times. Recent work that combines learning methods on solver heuristics has …
Convex model predictive control of single rigid body model on so (3) for versatile dynamic legged motions
This paper presents a convex model predictive control framework for versatile dynamic
legged motions with negligible leg dynamics. The framework utilizes the single rigid body …
legged motions with negligible leg dynamics. The framework utilizes the single rigid body …
An Investigation on the Effect of Actuation Pattern on the Power Consumption of Legged Robots for Extraterrestrial Exploration
Y Hu, W Guo, R Lin - IEEE Transactions on Robotics, 2022 - ieeexplore.ieee.org
Legged robots have great potential to be extraterrestrial exploration rovers of extraordinary
versatility. Minimizing power consumption is of vital importance in the scenarios of …
versatility. Minimizing power consumption is of vital importance in the scenarios of …