3 accepted papers
This paper presents a novel Stochastic Optimal Control (SOC) method based on Model Predictive Path Integral control (MPPI), named Stein Variational Guided MPPI (SVG-MPPI), designed to handle rapidly shifting multimodal optimal action distributions. While MPPI can find a Gaussian-approximated optimal…
Four-wheel independent drive and steering vehicle (4WIDS Vehicle, Swerve Drive Robot) has the ability to move in any direction by its eight degrees of freedom (DoF) control inputs. Although the high maneuverability enables efficient navigation in narrow spaces, obtaining the optimal command is chall…
In this paper, a new control method for a hexapod robot walking on irregular terrain based on a human operator's foot-placement navigation is proposed and evaluated. The control method is based on the Follow-the-contact-point (FCP) gait control that operates on the principle that each leg follows th…