15 accepted papers
Inspired by sled-pulling dogs in transportation, we present a cable-trailer integrated with a quadruped robot system. The motion planning of this system faces challenges due to the interactions between the cable's state transitions, the trailer's nonholonomic constraints, and the system's underactua
Inspired by sled-pulling dogs in transportation, we present a cable-trailer integrated with a quadruped robot system. The motion planning of this system faces challenges due to the interactions between the cable's state transitions, the trailer's nonholonomic constraints, and the system's underactua…
This letter presents a control framework for legged robots that enables self-perception and resistance to external disturbances and model uncertainties. First, a novel disturbance estimator is proposed, integrating adaptive control and extended state observers (ESO) to estimate external disturbances
Legged robots employ multiple joint actuators that are susceptible to abrupt partial failures during prolonged operation. Joint failures take multiple forms. They are not limited to complete lockout failures, which are the main focus of existing literature. They also include partial torque tracking
This paper presents a robust monocular visual SLAM system that simultaneously utilizes point, line, and vanishing point features for accurate camera pose estimation and mapping. To address the critical challenge of achieving reliable localization in low-texture environments, where traditional point-
The letter considers the multi-robot collaborative manipulation with load sharing characteristic, when dynamic parameters of the system composed of multiple robots and the rigid body are unknown. Load sharing refers to each robot calculating the required wrench for the manipulation task itself and a
Quadruped robots demonstrate robust and agile movements in various terrains; however, their navigation autonomy is still insufficient. One of the challenges is that the motion capabilities of the quadruped robot are anisotropic along different directions, which significantly affects the safety of qu…
Safe corridor-based Trajectory Optimization (TO) presents an appealing approach for collision-free path planning of autonomous robots, because its convex formulation can guarantee global optimality. The safe corridor is constructed based on the obstacle map, however, the non-ideal perception induces…
This paper presents a Kalman filter based LiDAR-Inertial-Leg Odometry (KLILO) system for legged robots to navigate in challenging environments. In particular, we employ the iterated error-state extended Kalman filter framework on manifolds to fuse measurements from the inertial measurement unit (IMU…
This paper presents a collaborative quadrotor-quadruped robot system for the manipulation of a cable-towed payload. In particular, we aim to solve the challenge from the unknown dynamics of the cable-towed payload. To this end, we first propose novel dynamic models for both the quadrotor and the qua…
In this paper, we propose a reactive planning system for quadruped robots based on prescribed-time control. The navigation of the quadruped robot is fundamentally depicted as omnidirectional movements, while a feedback control law is formulated to address any deviations the robot may encounter. In p…
In this letter, we focus on the flocking control and gait synchronization control of multiple quadruped robots to achieve the movement during patrol tasks. To achieve these goals, we propose an optimization-based distributed flocking controller and a model predictive control (MPC)-based gait synchro
In this paper, we present a fully distributed framework for multiple quadruped robots in environments with obstacles. Our approach utilizes Model Predictive Control (MPC) and multi-robot consensus protocol to obtain the distributed control law. It ensures that all the robots are able to avoid obstac…
Four-legged animals are able to change their gaits adaptively for lower energy consumption. However, designing a robust controller for their robot counterparts with multi-modal locomotion remains challenging. In this paper, we present a hierarchical control framework that decomposes this challenge i…
Parametric speakers produce sound by emitting ultrasound, and using the small nonlinearity in air to demodulate it back to audible sound. The use of ultrasound allows for producing very narrow audio beams, which finds application in a number of military and consumer scenarios. However, designing bet…