Online non-linear centroidal mpc for humanoid robot locomotion with step adjustment
This paper presents a Non-Linear Model Predictive Controller for humanoid robot
locomotion with online step adjustment capabilities. The proposed controller considers the …
locomotion with online step adjustment capabilities. The proposed controller considers the …
[HTML][HTML] Development of Push-Recovery control system for humanoid robots using deep reinforcement learning
This paper focuses on the push-recovery problem of bipedal humanoid robots affected by
external forces and pushes. Since they are structurally unstable, balance is the most …
external forces and pushes. Since they are structurally unstable, balance is the most …
MOB-Net: Limb-modularized uncertainty torque learning of humanoids for sensorless external torque estimation
Momentum observer (MOB) can estimate external joint torque without requiring additional
sensors, such as force/torque or joint torque sensors. However, the estimation performance …
sensors, such as force/torque or joint torque sensors. However, the estimation performance …
Step and timing adaptation during online dcm trajectory generation for robust humanoid walking with double support phases
In this paper, we present a robust DCM-based online trajectory generator with step timing
adaptation using MPC in addition to manipulating the ground reaction forces by the DCM …
adaptation using MPC in addition to manipulating the ground reaction forces by the DCM …
Enhancing Model-Based Step Adaptation for Push Recovery through Reinforcement Learning of Step Timing and Region
This paper introduces a new approach to enhance the robustness of humanoid walking
under strong perturbations, such as substantial pushes. Effective recovery from external …
under strong perturbations, such as substantial pushes. Effective recovery from external …
Robust inverse dynamics by evaluating Newton–Euler equations with respect to a moving reference and measuring angular acceleration
M Gießler, B Waltersberger - Autonomous Robots, 2023 - Springer
Maintaining stability while walking on arbitrary surfaces or dealing with external
perturbations is of great interest in humanoid robotics research. Increasing the system's …
perturbations is of great interest in humanoid robotics research. Increasing the system's …
Seamless reaction strategy for bipedal locomotion exploiting real-time nonlinear model predictive control
This paper presents a reactive locomotion method for bipedal robots enhancing robustness
and external distur-bance rejection performance by seamlessly rendering several walking …
and external distur-bance rejection performance by seamlessly rendering several walking …
Implementation and Tuning of Momentum-Based Controller for Standing Balance in a Lower-limb Exoskeleton with Paraplegic User
Lower limb exoskeletons (LLEs) are wearable devices that can restore the movement
autonomy of paraplegic users. LLEs can restore the users' ability to stand upright and walk …
autonomy of paraplegic users. LLEs can restore the users' ability to stand upright and walk …
Swing Foot Pose Control Disturbance Overcoming Algorithm Based on Reference ZMP Preview Controller for Improving Humanoid Walking Stability
To improve the walking stability of humanoid robots, it is necessary to increase the
performance of overcoming external disturbance. In this paper, step modification strategy …
performance of overcoming external disturbance. In this paper, step modification strategy …
Motion Planning for Humanoid Locomotion: Applications to Homelike Environments
“What can your humanoid robot do?” is probably the most commonly asked question that
we, as roboticists, have to answer when interacting with the general public. Often, the …
we, as roboticists, have to answer when interacting with the general public. Often, the …