Optimization-based motion planning for legged robots
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Locomotion planning for legged systems requires reasoning about suitable contact schedules. The contact sequence and timings constitute a hybrid dynamical system and prescribe a subset of achievable motions. State-of-the-art approaches cast motion planning ...
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Transferring solutions found by trajectory optimization to robotic hardware remains a challenging task. When the optimization fully exploits the provided model to perform dynamic tasks, the presence of unmodeled dynamics renders the motion infeasible on th ...
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 ...
Thanks to better actuator technologies and control algorithms, humanoid robots to date can perform a wide range of locomotion activities outside lab environments. These robots face various control challenges like high dimensionality, contact switches durin ...
Despite enhancements in the development of robotic systems, the energy economy of today's robots lags far behind that of biological systems. This is in particular critical for untethered legged robot locomotion. To elucidate the current stage of energy eff ...
Agile quadrupedal locomotion in animals and robots is yet to be fully understood, quantified
or achieved. An intuitive notion of agility exists, but neither a concise definition nor a common
benchmark can be found. Further, it is unclear, what minimal leve ...
Sprawling posture robots are characterized by upper limb segments protruding horizontally from the body, resulting in lower body height and wider support on the ground. Combined with an actuated segmented spine and tail, such morphology resembles that of s ...
Gaits in legged robots are often hand tuned and time based, either explicitly or through an internal clock, for instance, in the form of central pattern generators. This strategy requires trial and error to identify leg timings, which may not be suitable i ...
This paper proposes a novel steerable locomotion controller for six-strut tensegrity robots. Tensegrity robots are lightweight and have many promising features such as robustness, shape-shifting capabilities, and deployability, making them good candidates ...
