7 accepted papers
Discrete-time joint acceleration bounds are widely used to enforce position and velocity limits. However, under voltage-constrained electric actuators, kinematically admissible accelerations may be physically unrealizable, exposing a missing execution-level abstraction. We propose Actuator-Aware Joi…
The enhanced mobility brought by legged locomotion empowers quadrupedal robots to navigate through complex and unstructured environments. However, optimizing agile locomotion while accounting for the varying energy costs of traversing different terrains remains an open challenge. Most previous work …
Exploring the limits of quadruped robot agility, particularly in the context of rapid and real-time planning and execution of omnidirectional jump trajectories, presents significant challenges due to the complex dynamics involved, especially when considering significant impulse contacts. This paper…
Model Predictive Control (MPC) relies heavily on the robot model for its control law. However, a gap always exists between the reduced-order control model with uncertainties and the real robot, which degrades its performance. To address this issue, we propose the controller of integrating a data-dri…
Offline evolutionary-based methodologies have supplied a successful motion planning framework for the quadrupedal jump. However, the time-consuming computation caused by massive population evolution in offline evolutionary-based jumping framework significantly limits the popularity in the quadrupeda…
This paper presents an optimal motion planning framework to generate versatile energy-optimal quadrupedal jumping motions automatically (e.g., flips, spin). The jumping motions via the centroidal dynamics are formulated as a 12-dimensional black-box optimization problem subject to the robot kino-dyn…
Recent years have seen a surge in commercially-available and affordable quadrupedal robots, with many of these platforms being actively used in research and industry. As the availability of legged robots grows, so does the need for controllers that enable these robots to perform useful skills. Howev…