Offline motion libraries and online MPC for advanced mobility skills

M Bjelonic, R Grandia, M Geilinger… - … Journal of Robotics …, 2022 - journals.sagepub.com
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 …

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 …

Efficient multicontact pattern generation with sequential convex approximations of the centroidal dynamics

B Ponton, M Khadiv, A Meduri… - IEEE Transactions on …, 2021 - ieeexplore.ieee.org
This article investigates the problem of efficient computation of physically consistent
multicontact behaviors. Recent work showed that under mild assumptions, the problem …

Online non-linear centroidal mpc for humanoid robot locomotion with step adjustment

G Romualdi, S Dafarra, G L'Erario… - … on Robotics and …, 2022 - ieeexplore.ieee.org
This paper presents a Non-Linear Model Predictive Controller for humanoid robot
locomotion with online step adjustment capabilities. The proposed controller considers the …

Walking control based on step timing adaptation

M Khadiv, A Herzog, SAA Moosavian… - IEEE Transactions on …, 2020 - ieeexplore.ieee.org
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 …

Dynamic complementarity conditions and whole-body trajectory optimization for humanoid robot locomotion

S Dafarra, G Romualdi, D Pucci - IEEE Transactions on …, 2022 - ieeexplore.ieee.org
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 …

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 …

Feasible region: An actuation-aware extension of the support region

R Orsolino, M Focchi, S Caron, G Raiola… - IEEE Transactions …, 2020 - ieeexplore.ieee.org
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 …

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 …

Reachability aware capture regions with time adjustment and cross-over for step recovery

R Griffin, J Foster, S Fasano… - 2023 IEEE-RAS …, 2023 - ieeexplore.ieee.org
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 …