6 accepted papers
Online optimal control of quadruped robots would enable them to adapt to varying inputs and changing conditions in real time. A common way of achieving this is linear model predictive control (LMPC), where a quadratic programming (QP) problem is formulated over a finite horizon with a quadratic cost
Maximizing the endurance of unmanned aerial vehicles (UAVs) in large-scale monitoring missions spanning over large areas requires addressing their limited battery capacity. Deploying unmanned ground vehicles (UGVs) as mobile recharging stations offers a practical solution, extending UAVs' operationa
Unmanned aerial vehicles (UAVs) possess the capability to survey vast areas, yet their operational range is limited by their battery capacity. Deploying mobile recharging stations via unmanned ground vehicles (UGVs) can significantly enhance the endurance and effectiveness of UAVs. However, optimizi
We consider the motion planning problem of a hopper navigating a terrain comprising stepping stones while optimizing an energy metric. The most widely used approach of discrete searches (e.g., A-star) cannot handle boundary conditions (e.g., end path constraints on position, velocity). However, cont…
We present a sampling-based framework for feedback motion planning of legged robots. Our framework is based on switching between limit cycles at a fixed instance of motion, the Poincaré section (e.g., apex or touchdown), by finding overlaps between the regions of attraction (ROA) of two limit cycles…
The main motivation of this paper is to understand the role of foot placement and ankle push-off control in stabilizing bipedal gaits. We modify the simplest walker (heavy torso, light legs) by incorporating a hip spring, a hip actuator, and a telescopic linear actuator. We consider two stability cr…