A Model-Based Control Approach for Locomotion of Biped Robots
Graph Chatbot
Chat with Graph Search
Ask any question about EPFL courses, lectures, exercises, research, news, etc. or try the example questions below.
DISCLAIMER: The Graph Chatbot is not programmed to provide explicit or categorical answers to your questions. Rather, it transforms your questions into API requests that are distributed across the various IT services officially administered by EPFL. Its purpose is solely to collect and recommend relevant references to content that you can explore to help you answer your questions.
This paper deals with whole-body motion planning and dynamic control for humanoid from two aspects: locomotion including manipulation and reaching. In the first part, we address a problem of simultaneous locomotion and manipulation planning that combines a ...
We present an algorithm enabling a humanoid robot to visually learn its body schema, knowing only the number of degrees of freedom in each limb. By “body schema” we mean the joint positions and orientations and thus the kinematic function. The learning is ...
Legged robots have gained an increased attention these past decades since they offer a promising technology for many applications in unstructured environments where the use of wheeled robots is clearly limited. Such applications include exploration and res ...
An important problem in the control of locomotion of robots with multiple degrees of freedom (e.g., biomimetic robots) is to adapt the locomotor patterns to the properties of the environment. This article addresses this problem for the locomotion of an amp ...
Central Pattern Generators (CPGs) are becoming a popular model for the control of locomotion of legged robots. Biological CPGs are neural networks responsible for the generation of rhythmic movements, especially locomotion. In robotics, a systematic way of ...
Nature has developed methods for controlling the movements of organisms with many degrees of freedom which differ strongly from existing approaches for balance control in humanoid robots: Biological organisms employ kinematic synergies that simultaneously ...
This article presents a control architecture for controlling the locomotion of an amphibious snake/lamprey robot capable of swimming and serpentine locomotion. The control architecture is based on a central pattern generator (CPG) model inspired from the n ...
Locomotion on an irregular surface is a challenging task in robotics. Among different problems to solve to obtain robust locomotion, visually guided locomotion and accurate foot placement are of crucial importance. Robust controllers able to adapt to senso ...
Our work aims at developing a robust discriminant controller for robot programming by demonstration. It addresses two core issues of imitation learning, namely "what to imitate" and "how to imitate". This paper presents a method by which a robot extracts t ...
In this thesis, we present a dynamical systems approach to adaptive controllers for locomotion control. The approach is based on a rigorous mathematical framework using nonlinear dynamical systems and is inspired by theories of self-organization. Nonlinear ...