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of 13
pro vyhledávání: '"Chignoli, Matthew"'
Designs incorporating kinematic loops are becoming increasingly prevalent in the robotics community. Despite the existence of dynamics algorithms to deal with the effects of such loops, many modern simulators rely on dynamics libraries that require r
Externí odkaz:
http://arxiv.org/abs/2411.19753
We present a homotopic approach to solving challenging, optimization-based motion planning problems. The approach uses Homotopy Optimization, which, unlike standard continuation methods for solving homotopy problems, solves a sequence of constrained
Externí odkaz:
http://arxiv.org/abs/2408.12490
Publikováno v:
IEEE Robotics and Automation Letters (2024)
Thanks to recent advancements in accelerating non-linear model predictive control (NMPC), it is now feasible to deploy whole-body NMPC at real-time rates for humanoid robots. However, enforcing inequality constraints in real time for such high-dimens
Externí odkaz:
http://arxiv.org/abs/2407.10789
We revisit the concept of constraint embedding as a means for dealing with kinematic loop constraints during dynamics computations for rigid-body systems. Specifically, we consider the local loop constraints emerging from common actuation sub-mechani
Externí odkaz:
http://arxiv.org/abs/2311.13732
We propose MIMOC: Motion Imitation from Model-Based Optimal Control. MIMOC is a Reinforcement Learning (RL) controller that learns agile locomotion by imitating reference trajectories from model-based optimal control. MIMOC mitigates challenges faced
Externí odkaz:
http://arxiv.org/abs/2305.10989
This paper proposes a novel orientation-aware model predictive control (MPC) for dynamic humanoid walking that can plan footstep locations online. Instead of a point-mass model, this work uses the augmented single rigid body model (aSRBM) to enable t
Externí odkaz:
http://arxiv.org/abs/2205.15443
Dynamic jumping with legged robots poses a challenging problem in planning and control. Formulating the jump optimization to allow fast online execution is difficult; efficiently using this capability to generate long-horizon motion plans further com
Externí odkaz:
http://arxiv.org/abs/2111.13648
Autor:
Chignoli, Matthew, Kim, Sangbae
This work presents a two part framework for online planning and execution of dynamic aerial motions on a quadruped robot. Motions are planned via a centroidal momentum-based nonlinear optimization that is general enough to produce rich sets of novel
Externí odkaz:
http://arxiv.org/abs/2110.06330
Demonstrating acrobatic behavior of a humanoid robot such as flips and spinning jumps requires systematic approaches across hardware design, motion planning, and control. In this paper, we present a new humanoid robot design, an actuator-aware kino-d
Externí odkaz:
http://arxiv.org/abs/2104.09025
The 9.5th international symposium on Adaptive Motion of Animals and Machines. Ottawa，Canada (Virtual Platform). 2021-06-22/25. Adaptive Motion of Animals and Machines Organizing Committee.
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=jairo_______::83cdce0c2d6861c1892d5622511fbf57
https://hdl.handle.net/11094/84846
https://hdl.handle.net/11094/84846