5 accepted papers
This paper proposes a simple controller for bipedal locomotion that can stabilize three-axis (roll, pitch, and yaw) rotation without relying on ground reaction moment manipulation. Extra acceleration of the CoM (center-of-mass) from the nominal DCM (divergent component of motion) dynamics generates
This paper proposes a method that realizes dynamic motion of humanoid robots from reference key poses. The proposed control method runs two types of model predictive controllers with different fidelity and time scale in parallel; one performs long-horizon prediction by making use of a closed-form so
This letter proposes a novel reduced-order model of rigid body dynamics that can be used for versatile motion generation of legged robots. It can express both linear CoM movement and rotation of the base link, and it is applicable to general multi-contact setup including flight. Moreover, its closed
This paper proposes a computationally efficient method for pose-graph optimization that makes use of a multi-resolution representation of pose-graph transformation constructed on a spanning tree. It is shown that the proposed spanning tree-based hierarchy has a number of advantages over the previous
Remotely controlled hydraulically driven robots are expected to play an important role in extreme environments such as disaster sites, and force feedback is effective for improving the fidelity of the remote environment and the work efficiency. However, it is not reasonable to attach a force sensor…