Variable inertia model predictive control for fast bipedal maneuvers
This paper proposes a novel control framework for agile and robust bipedal locomotion,
addressing model discrepancies between full-body and reduced-order models. Specifically …
addressing model discrepancies between full-body and reduced-order models. Specifically …
Trajectory generation for legged robots based on a closed-form solution of centroidal dynamics
Y Tazaki - IEEE Robotics and Automation Letters, 2024 - ieeexplore.ieee.org
This letter proposes a novel reduced-order model of rigid body dynamics that can be used
for versatile motion generation of legged robots. It can express both linear CoM movement …
for versatile motion generation of legged robots. It can express both linear CoM movement …
HARMONIC: A Framework for Explanatory Cognitive Robots
We present HARMONIC, a framework for implementing cognitive robots that transforms
general-purpose robots into trusted teammates capable of complex decision-making, natural …
general-purpose robots into trusted teammates capable of complex decision-making, natural …
Joint-Level IS-MPC: a Whole-Body MPC with Centroidal Feasibility for Humanoid Locomotion
We propose an effective whole-body MPC controller for locomotion of humanoid robots. Our
method generates motions using the full kinematics, allowing it to account for joint limits and …
method generates motions using the full kinematics, allowing it to account for joint limits and …