6 accepted papers
We present a sample-based motion planning algorithm specialised to a class of underactuated systems using path parameterisation. The structure this class presents under a path parameterisation enables the trivial computation of dynamic feasibility along a path. Using this, a specialised state-based…
This paper presents an algorithm that finds a centroidal motion and footstep plan for a Spring-Loaded Inverted Pendulum (SLIP)-like bipedal robot model substantially faster than real-time. This is achieved with a novel representation of the dynamic footstep planning problem, where each point in the…
Unmanned Aerial Vehicle (UAV) path planning algorithms often assume a knowledge reward function or priority map, indicating the most important areas to visit. In this paper we propose a method to create priority maps for monitoring or intervention of dynamic spreading processes such as wildfires. Th…
Dynamic walking robots have the potential for efficient and lifelike locomotion, but computing efficient gaits and tracking them is difficult in the presence of under-modeling. Iterative Learning Control (ILC) is a method to learn the control signal to track a periodic reference over several attempt…
The control of walking robots has been a long-studied problem as researchers attempt to bring robots out of the lab and into unstructured environments. In particular, there is significant interest in dynamic walkers: a class of walking robots that exhibit highly efficient gaits, but are sensitive to…
We address the problem of finding useful invariant funnels for dynamic walking robots, i.e. sets of initial conditions from which continued walking in a stable manner is guaranteed. The construction is based on transverse dynamics and sum-of-squares verification. This paper makes two main contributi…