Offline motion libraries and online MPC for advanced mobility skills
We describe an optimization-based framework to perform complex locomotion skills for
robots with legs and wheels. The generation of complex motions over a long-time horizon …
robots with legs and wheels. The generation of complex motions over a long-time horizon …
Whole-body mpc and online gait sequence generation for wheeled-legged robots
M Bjelonic, R Grandia, O Harley… - 2021 IEEE/RSJ …, 2021 - ieeexplore.ieee.org
Our paper proposes a model predictive controller as a single-task formulation that
simultaneously optimizes wheel and torso motions. This online joint velocity and ground …
simultaneously optimizes wheel and torso motions. This online joint velocity and ground …
Efficient multicontact pattern generation with sequential convex approximations of the centroidal dynamics
This article investigates the problem of efficient computation of physically consistent
multicontact behaviors. Recent work showed that under mild assumptions, the problem …
multicontact behaviors. Recent work showed that under mild assumptions, the problem …
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 …
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 …
Dynamic complementarity conditions and whole-body trajectory optimization for humanoid robot locomotion
This article presents a planner to generate walking trajectories by using the centroidal
dynamics and the full kinematics of a humanoid robot. The interaction between the robot and …
dynamics and the full kinematics of a humanoid robot. The interaction between the robot and …
Sequence-of-constraints mpc: Reactive timing-optimal control of sequential manipulation
M Toussaint, J Harris, JS Ha, D Driess… - 2022 IEEE/RSJ …, 2022 - ieeexplore.ieee.org
Task and Motion Planning has made great progress in solving hard sequential manipulation
problems. However, a gap between such planning formulations and control methods for …
problems. However, a gap between such planning formulations and control methods for …
Feasible region: An actuation-aware extension of the support region
In legged locomotion, the projection of the robot's Center of Mass (CoM) being inside the
convex hull of the contact points is a commonly accepted sufficient condition to achieve …
convex hull of the contact points is a commonly accepted sufficient condition to achieve …
Whole-body model predictive control with rigid contacts via online switching time optimization
S Katayama, T Ohtsuka - 2022 IEEE/RSJ International …, 2022 - ieeexplore.ieee.org
This study presents a whole-body model predictive control (MPC) of robotic systems with
rigid contacts, under a given contact sequence using online switching time optimization …
rigid contacts, under a given contact sequence using online switching time optimization …
Reachability aware capture regions with time adjustment and cross-over for step recovery
For humanoid robots to live up to their potential utility, they must be able to robustly recover
from instabilities. In this work, we propose a number of balance enhancements to enable the …
from instabilities. In this work, we propose a number of balance enhancements to enable the …