A review of algorithms for compliant control of stiff and fixed-compliance robots
This survey presents the state of the art of basic compliant control algorithms in a unified
view of past and present literature. Compliant control is fundamental when dealing with …
view of past and present literature. Compliant control is fundamental when dealing with …
Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot
This paper describes a collection of optimization algorithms for achieving dynamic planning,
control, and state estimation for a bipedal robot designed to operate reliably in complex …
control, and state estimation for a bipedal robot designed to operate reliably in complex …
Momentum control with hierarchical inverse dynamics on a torque-controlled humanoid
Hierarchical inverse dynamics based on cascades of quadratic programs have been
proposed for the control of legged robots. They have important benefits but to the best of our …
proposed for the control of legged robots. They have important benefits but to the best of our …
Optimization and stabilization of trajectories for constrained dynamical systems
M Posa, S Kuindersma… - 2016 IEEE International …, 2016 - ieeexplore.ieee.org
Contact constraints, such as those between a foot and the ground or a hand and an object,
are inherent in many robotic tasks. These constraints define a manifold of feasible states; …
are inherent in many robotic tasks. These constraints define a manifold of feasible states; …
An efficiently solvable quadratic program for stabilizing dynamic locomotion
S Kuindersma, F Permenter… - 2014 IEEE International …, 2014 - ieeexplore.ieee.org
We describe a whole-body dynamic walking controller implemented as a convex quadratic
program. The controller solves an optimal control problem using an approximate value …
program. The controller solves an optimal control problem using an approximate value …
Quadrupedal locomotion using hierarchical operational space control
This paper presents the application of operational space control based on hierarchical task
optimization for quadrupedal locomotion. We show how the behavior of a complex robotic …
optimization for quadrupedal locomotion. We show how the behavior of a complex robotic …
Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics
Recently several hierarchical inverse dynamics controllers based on cascades of quadratic
programs have been proposed for application on torque controlled robots. They have …
programs have been proposed for application on torque controlled robots. They have …
Versatile and robust 3d walking with a simulated humanoid robot (atlas): A model predictive control approach
In this paper, we propose a novel walking method for torque controlled robots. The method
is able to produce a wide range of speeds without requiring off-line optimizations and re …
is able to produce a wide range of speeds without requiring off-line optimizations and re …
Robust and agile 3d biped walking with steering capability using a footstep predictive approach
In this paper, we formulate a novel hierarchical controller for walking of torque controlled
humanoid robots. Our method uses a whole body optimization approach which generates …
humanoid robots. Our method uses a whole body optimization approach which generates …
Push recovery of a quadruped robot on challenging terrains
M Khorram, SAA Moosavian - Robotica, 2017 - cambridge.org
Legged robots may become unstable when subjected to unexpected disturbances such as
external pushes and environmental irregularities mostly while moving on natural terrains. To …
external pushes and environmental irregularities mostly while moving on natural terrains. To …