3 accepted papers
Legged manipulators offer high mobility and versatile manipulation. However, robust interaction with heterogeneous articulated objects, such as doors, drawers, and cabinets, remains challenging because of the diverse articulation types of the objects and the complex dynamics of the legged robot. Exi…
Recent advances in quadrupedal robots have demonstrated impressive agility and the ability to traverse diverse terrains. However, hardware issues, such as motor overheating or joint locking, may occur during long-distance walking or traversing through rough terrains leading to locomotion failures. A
Designing a cost function for nonlinear model predictive control (MPC) with a sparse/binary stage cost is challenging. This paper proposes a novel MPC approach with a scheduled quadratic stage cost function that approximates the true stage cost in order to optimally control a nonlinear system with a…