Walking control based on step timing adaptation
Step adjustment can improve the gait robustness of biped robots; however, the adaptation of
step timing is often neglected as it gives rise to nonconvex problems when optimized over …
step timing is often neglected as it gives rise to nonconvex problems when optimized over …
Step timing adjustment: A step toward generating robust gaits
Step adjustment for humanoid robots has been shown to improve robustness in gaits.
However, step duration adaptation is often neglected in control strategies. In this paper, we …
However, step duration adaptation is often neglected in control strategies. In this paper, we …
Smooth trajectory generation and push-recovery based on divergent component of motion
This paper presents a novel multi-step closed-form walking trajectory generator based on
the concept of Divergent Component of Motion (DCM) that guarantees smoothness of all …
the concept of Divergent Component of Motion (DCM) that guarantees smoothness of all …
Robust bipedal locomotion control based on model predictive control and divergent component of motion
In this paper, previous works on the Model Predictive Control (MPC) and the Divergent
Component of Motion (DCM) for bipedal walking control are extended. To this end, we …
Component of Motion (DCM) for bipedal walking control are extended. To this end, we …
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 …
Task-space whole-body control with variable contact force control for position-controlled humanoid adaptation to unknown disturbance
Whole-body control is beneficial for improving the disturbance adaptation of humanoid
robots, since it can simultaneously optimize desired joint torque, joint acceleration, and …
robots, since it can simultaneously optimize desired joint torque, joint acceleration, and …
[PDF][PDF] A robust walking controller based on online step location and duration optimization for bipedal locomotion
Step adjustment for humanoid robots has been shown to improve gait robustness, while
timing adjustment is often neglected in control strategies. In this paper, a new walking …
timing adjustment is often neglected in control strategies. In this paper, a new walking …
Improved online adjustment of step timing and location for legged locomotion
H Sun, J Yang, H An, C Wang - Journal of Intelligent & Robotic Systems, 2021 - Springer
Online step adaptation is critical for legged locomotion to resist disturbances, while current
approaches mainly focus on step location regardless of step timing. This paper proposes an …
approaches mainly focus on step location regardless of step timing. This paper proposes an …
A robust biped locomotion based on linear-quadratic-Gaussian controller and divergent component of motion
Generating robust locomotion for a humanoid robot in the presence of disturbances is
difficult because of its high number of degrees of freedom and its unstable nature. In this …
difficult because of its high number of degrees of freedom and its unstable nature. In this …
A whole-body model predictive control scheme including external contact forces and com height variations
In this paper, we present an approach for generating a variety of whole-body motions for a
humanoid robot. We extend the available Model Predictive Control (MPC) approaches for …
humanoid robot. We extend the available Model Predictive Control (MPC) approaches for …