Optimization-based control for dynamic legged robots
In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to
impact emerging robotics applications from logistics, to agriculture, to home assistance. The …
impact emerging robotics applications from logistics, to agriculture, to home assistance. The …
Gait and trajectory optimization for legged systems through phase-based end-effector parameterization
We present a single trajectory optimization formulation for legged locomotion that
automatically determines the gait sequence, step timings, footholds, swing-leg motions, and …
automatically determines the gait sequence, step timings, footholds, swing-leg motions, and …
Reinforcement learning control of a flexible two-link manipulator: An experimental investigation
This article discusses the control design and experiment validation of a flexible two-link
manipulator (FTLM) system represented by ordinary differential equations (ODEs). A …
manipulator (FTLM) system represented by ordinary differential equations (ODEs). A …
Controlling legs for locomotion—insights from robotics and neurobiology
T Buschmann, A Ewald, A von Twickel… - Bioinspiration & …, 2015 - iopscience.iop.org
Walking is the most common terrestrial form of locomotion in animals. Its great versatility and
flexibility has led to many attempts at building walking machines with similar capabilities …
flexibility has led to many attempts at building walking machines with similar capabilities …
A direct method for trajectory optimization of rigid bodies through contact
Direct methods for trajectory optimization are widely used for planning locally optimal
trajectories of robotic systems. Many critical tasks, such as locomotion and manipulation …
trajectories of robotic systems. Many critical tasks, such as locomotion and manipulation …
Model predictive control of legged and humanoid robots: models and algorithms
Model predictive control (MPC) of legged and humanoid robotic systems has been an active
research topic in the past decade. While MPC for robotic systems has a long history, its …
research topic in the past decade. While MPC for robotic systems has a long history, its …
From human to humanoid locomotion—an inverse optimal control approach
K Mombaur, A Truong, JP Laumond - Autonomous robots, 2010 - Springer
The purpose of this paper is to present inverse optimal control as a promising approach to
transfer biological motions to robots. Inverse optimal control helps (a) to understand and …
transfer biological motions to robots. Inverse optimal control helps (a) to understand and …
[PDF][PDF] Analytical derivatives of rigid body dynamics algorithms
J Carpentier, N Mansard - Robotics: Science and …, 2018 - m.roboticsproceedings.org
Rigid body dynamics is a well-established frame--work in robotics. It can be used to expose
the analytic form of kinematic and dynamic functions of the robot model. So far, two major …
the analytic form of kinematic and dynamic functions of the robot model. So far, two major …
Optimizing locomotion controllers using biologically-based actuators and objectives
We present a technique for automatically synthesizing walking and running controllers for
physically-simulated 3D humanoid characters. The sagittal hip, knee, and ankle degrees-of …
physically-simulated 3D humanoid characters. The sagittal hip, knee, and ankle degrees-of …
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; …