Publication

Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach

Related publications (127)

Online walking motion and foothold optimization for quadruped locomotion

Jonas Buchli, Farbod Farshidian, Alexander Winkler

Abstract: We present an algorithm that generates walking motions for quadruped robots without the use of an explicit footstep planner by simultaneously optimizing over both the Center of Mass (CoM) trajectory and the footholds. Feasibility is achieved by i ...

2018

A Unified Framework for Coordinated Multi-Arm Motion Planning

Aude Billard, Nadia Barbara Figueroa Fernandez, Seyed Sina Mirrazavi Salehian

Coordination is essential in the design of dynamic control strategies for multi-arm robotic systems. Given the complexity of the task and dexterity of the system, coordination constraints can emerge from different levels of planning and control. Primarily, ...

2018

Learning Augmented Joint-Space Task-Oriented Dynamical Systems:A Linear Parameter Varying and Synergetic Control Approach

Aude Billard, Nadia Barbara Figueroa Fernandez, Seyed Sina Mirrazavi Salehian, Yonadav Goldwasser Shavit

In this paper, we propose an asymptotically stable joint-space dynamical system that captures desired behaviors in joint-space while stably converging towards a task-space attractor. To encode joint-space behaviors while meeting the stability criteria, the ...

2018

Scalable closed-form trajectories for periodic and non-periodic human-like walking

Auke Ijspeert, Salman Faraji

We present a new framework to generate human-like lower-limb trajectories in periodic and non-periodic walking conditions. In our method, walking dynamics is encoded in 3LP, a linear simplified model composed of three pendulums to model falling, swing and ...

2018

Rich and Robust Bio-Inspired Locomotion Control for Humanoid Robots

Nicolas Benoît Dominique Van der Noot

Bipedal locomotion is a challenging task in the sense that it requires to maintain dynamic balance while steering the gait in potentially complex environments. Yet, humans usually manage to move without any apparent difficulty, even on rough terrains. This ...

EPFL2017

Model predictive control based framework for CoM control of a quadruped robot

Auke Ijspeert, Kamilo Andres Melo Becerra, Tomislav Horvat

Model Predictive Control is becoming more and more present in robotic applications. It has been successfully used in control of humanoid robots to adjust positions of the footsteps in order to satisfy stability constraints. In this paper we show how to ada ...

2017

Singularity-tolerant inverse kinematics for bipedal robots: An efficient use of computational power to reduce energy consumption

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We propose a nonlinear inverse kinematics formulation which solves for positions directly. Compared to various other popular methods that integrate velocities, this formulation can better handle fast, asymmetric and singular-postured balancing tasks for hu ...

Ieee-Inst Electrical Electronics Engineers Inc2017

An Adaptive Neuromuscular Controller for Assistive Lower-Limb Exoskeletons: A Preliminary Study on Subjects with Spinal Cord Injury

Auke Ijspeert, Florin Dzeladini, Amy Roning Wu, Tycho Jan Henricus Brug

Versatility is important for a wearable exoskeleton controller to be responsive to both the user and the environment. These characteristics are especially important for subjects with spinal cord injury (SCI), where active recruitment of their own neuromusc ...

Frontiers Research Foundation2017

This paper proposes a capture-point based reactive omnidirectional controller for bipedal locomotion. The proposed scheme, formulated within Model Predictive Control (MPC) framework, exploits concurrently the Center of Mass (CoM) and Capture Point (CP) dyn ...

2017

Learning Task-Space Synergies using Riemannian Geometry

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In the context of robotic control, synergies can form an elementary unit of behavior. By specifying task-dependent coordination behaviors at a low control level, one can achieve task-specific disturbance rejection. In this work we present an approach to le ...

IEEE2017

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