Model predictive control of legged and humanoid robots: models and algorithms
Model predictive control (MPC) of legged and humanoid robotic systems has been an active
research topic in the past decade. While MPC for robotic systems has a long history, its …
research topic in the past decade. While MPC for robotic systems has a long history, its …
Collaborative navigation and manipulation of a cable-towed load by multiple quadrupedal robots
This letter tackles the problem of robots collaboratively towing a load with cables to a
specified goal location while avoiding collisions in real time. The introduction of cables (as …
specified goal location while avoiding collisions in real time. The introduction of cables (as …
Adaptive force-based control of dynamic legged locomotion over uneven terrain
Agile-legged robots have proven to be highly effective in navigating and performing tasks in
complex and challenging environments, including disaster zones and industrial settings …
complex and challenging environments, including disaster zones and industrial settings …
Robust convex model predictive control for quadruped locomotion under uncertainties
This article considers quadruped locomotion control in the presence of uncertainties. Two
types of structured uncertainties are considered, namely, uncertain friction constraints and …
types of structured uncertainties are considered, namely, uncertain friction constraints and …
Bayesian multi-task learning mpc for robotic mobile manipulation
Mobile manipulation in robotics is challenging due to the need to solve many diverse tasks,
such as opening a door or picking-and-placing an object. Typically, a basic first-principles …
such as opening a door or picking-and-placing an object. Typically, a basic first-principles …
Hierarchical Incremental MPC for Redundant Robots: A Robust and Singularity-Free Approach
Y Wang, Y Liu, M Leibold, M Buss… - IEEE Transactions on …, 2024 - ieeexplore.ieee.org
This article presents a model predictive control (MPC) method for redundant robots
controlling multiple hierarchical tasks formulated as multilayer constrained optimal control …
controlling multiple hierarchical tasks formulated as multilayer constrained optimal control …
Online damage recovery for physical robots with hierarchical quality-diversity
In real-world environments, robots need to be resilient to damages and robust to unforeseen
scenarios. Quality-Diversity (QD) algorithms have been successfully used to make robots …
scenarios. Quality-Diversity (QD) algorithms have been successfully used to make robots …
Multi-embodiment legged robot control as a sequence modeling problem
Robots are traditionally bounded by a fixed embodiment during their operational lifetime,
which limits their ability to adapt to their surroundings. Co-optimizing control and …
which limits their ability to adapt to their surroundings. Co-optimizing control and …
Learning agile locomotion and adaptive behaviors via rl-augmented mpc
Y Chen, Q Nguyen - 2024 IEEE International Conference on …, 2024 - ieeexplore.ieee.org
In the context of legged robots, adaptive behavior involves adaptive balancing and adaptive
swing foot reflection. While adaptive balancing counteracts perturbations to the robot …
swing foot reflection. While adaptive balancing counteracts perturbations to the robot …
Unknown payload adaptive control for quadruped locomotion with proprioceptive linear legs
B **, S Ye, J Su, J Luo - IEEE/ASME Transactions on …, 2022 - ieeexplore.ieee.org
Quadruped robots manifest great potential to traverse rough terrains with payload. Current
model-based controllers, which are extensively adopted in quadruped robot locomotion …
model-based controllers, which are extensively adopted in quadruped robot locomotion …