5 accepted papers
This letter formally develops a novel hierarchical planning and control framework for robust payload transportation by quadrupedal robots, integrating a model predictive control (MPC) algorithm with a gradient-descent-based adaptive updating law. At the framework's high level, an indirect adaptive l
The aim of this work is to define a planner that enables robust legged locomotion for complex multi-agent systems consisting of several holonomically constrained quadrupeds. To this end, we employ a methodology based on behavioral systems theory to model the sophisticated and high-dimensional struct…
Template-based reduced-order models have provided a popular methodology for real-time trajectory planning of dynamic quadrupedal locomotion. However, the abstraction and unmodeled dynamics in template models significantly increase the gap between reduced- and full-order models. This letter presents
This work investigates a data-driven template model for trajectory planning of dynamic quadrupedal robots. Many state-of-the-art approaches involve using a reduced-order model, primarily due to computational tractability. The spirit of the trajectory planning approach in this work draws on recent ad
This paper aims to develop time-varying virtual constraint controllers that allow stable and agile bounding gaits for full-order hybrid dynamical models of quadrupedal locomotion. As opposed to state-based nonlinear controllers, time-varying controllers can initiate locomotion from zero velocity. Mo…