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pro vyhledávání: '"Bipedal locomotion"'
Autor:
Pitroda, Shreyansh, Sihite, Eric, Krishnamurthy, Kaushik Venkatesh, Wang, Chenghao, Salagame, Adarsh, Nemovi, Reza, Ramezani, Alireza, Gharib, Morteza
Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These techniques are commonly seen in nature, such as Chukar birds using their w
Externí odkaz:
http://arxiv.org/abs/2411.12968
Bipedal locomotion control is essential for humanoid robots to navigate complex, human-centric environments. While optimization-based control designs are popular for integrating sophisticated models of humanoid robots, they often require labor-intens
Externí odkaz:
http://arxiv.org/abs/2409.15710
The Duke Humanoid: Design and Control For Energy Efficient Bipedal Locomotion Using Passive Dynamics
We present the Duke Humanoid, an open-source 10-degrees-of-freedom humanoid, as an extensible platform for locomotion research. The design mimics human physiology, with minimized leg distances and symmetrical body alignment in the frontal plane to ma
Externí odkaz:
http://arxiv.org/abs/2409.19795
This article describes a bipedal walking algorithm with inverse kinematics resolution based solely on geometric methods, so that all mathematical concepts are explained from the base, in order to clarify the reason for this solution. To do so, it has
Externí odkaz:
http://arxiv.org/abs/2408.16726
Bipedal robots are gaining global recognition due to their potential applications and advancements in artificial intelligence, particularly through Deep Reinforcement Learning (DRL). While DRL has significantly advanced bipedal locomotion, the develo
Externí odkaz:
http://arxiv.org/abs/2404.17070
We propose a hybrid formulation of the linear inverted pendulum model for bipedal locomotion, where the foot switches are triggered based on the center of mass position, removing the need for pre-defined footstep timings. Using a concept similar to r
Externí odkaz:
http://arxiv.org/abs/2405.02184
Autor:
Pitroda, Shreyansh, Bondada, Aditya, Krishnamurthy, Kaushik Venkatesh, Salagame, Adarsh, Wang, Chenghao, Liu, Taoran, Gupta, Bibek, Sihite, Eric, Nemovi, Reza, Ramezani, Alireza, Gharib, Morteza
Despite major advancements in control design that are robust to unplanned disturbances, bipedal robots are still susceptible to falling over and struggle to negotiate rough terrains. By utilizing thrusters in our bipedal robot, we can perform additio
Externí odkaz:
http://arxiv.org/abs/2406.14799
Gait control of legged robotic walkers on dynamically moving surfaces (e.g., ships and vehicles) is challenging due to the limited balance control actuation and unknown surface motion. We present a contingent model predictive control (CMPC) for biped
Externí odkaz:
http://arxiv.org/abs/2404.12455
Akademický článek
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Autor:
Gu, Zhaoyuan, Zhao, Yuntian, Chen, Yipu, Guo, Rongming, Leestma, Jennifer K., Sawicki, Gregory S., Zhao, Ye
This study introduces a robust planning framework that utilizes a model predictive control (MPC) approach, enhanced by incorporating signal temporal logic (STL) specifications. This marks the first-ever study to apply STL-guided trajectory optimizati
Externí odkaz:
http://arxiv.org/abs/2403.15993