7 accepted papers
Modern robotic systems increasingly employ nonlinear coupled joints, which present significant challenges in control. Unlike traditional serial chain configurations, where simplicity was the primary concern, parallel mechanisms such as those found in humanoid ankle joints add another layer of comple…
This study presents a model predictive path integral (MPPI) method capable of conducting high-frequency real-time model predictive control (MPC) for robot manipulators. Real-time MPC-based manipulation holds significant potential for controlling an end-effector precisely and reactively while satisfy…
Actuation failure and fault-tolerant control under the actuation failure scenario have drawn more attention in accordance with the recent increasing demand for reliable robot control applications such for long-term and remote operation. The emergence of control torque loss, i.e., the free-swinging f
This paper proposes a novel and practical approach to enhance the computational efficiency of the hierarchical quadratic programming (HQP)-based whole-body control. The HQP method is known to offer control solutions satisfying strict priority with various constraints for multiple-tasks execution. Ho…
This paper presents a dynamic whole-body control method for humanoids to render agile and stable standing-up motion based on energy concepts. First, to cope with the standing-up problem with multiple contacts in hierarchical tasks, an enhanced operational-space based whole-body control (WBC) framewo…
Robots with high degrees of freedom (DoFs), such as humanoids and mobile manipulators, are expected to perform multiple tasks simultaneously. Hierarchical quadratic programming (HQP) can effectively compute a solution for strictly prioritized tasks. However, the continuity of the control input is no
Reactivity to unexpected situations is one of the most important characteristics of walking for real world applications. In this study, we introduce a reactive biped robot walking method that reflects only the current state of the robot. Therefore, time plan and trajectory tracking control are not r…