Zobrazeno 1 - 10
of 74
pro vyhledávání: '"Hamed, Kaveh Akbari"'
Exoskeleton locomotion must be robust while being adaptive to different users with and without payloads. To address these challenges, this work introduces a data-driven predictive control (DDPC) framework to synthesize walking gaits for lower-body ex
Externí odkaz:
http://arxiv.org/abs/2403.15658
The aim of this work is to define a planner that enables robust legged locomotion for complex multi-agent systems consisting of several holonomically constrained quadrupeds. To this end, we employ a methodology based on behavioral systems theory to m
Externí odkaz:
http://arxiv.org/abs/2211.06917
This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, based on the si
Externí odkaz:
http://arxiv.org/abs/2211.06913
This paper aims to develop a hierarchical nonlinear control algorithm, based on model predictive control (MPC), quadratic programming (QP), and virtual constraints, to generate and stabilize locomotion patterns in a real-time manner for dynamical mod
Externí odkaz:
http://arxiv.org/abs/2004.06858
Akademický článek
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The hybrid zero dynamics (HZD) approach has become a powerful tool for the gait planning and control of bipedal robots. This paper aims to extend the HZD methods to address walking, ambling and trotting behaviors on a quadrupedal robot. We present a
Externí odkaz:
http://arxiv.org/abs/1909.08124
This paper presents a hierarchical control strategy based on hybrid systems theory, nonlinear control, and safety-critical systems to enable cooperative locomotion of robotic guide dogs and visually impaired people. We address high-dimensional and co
Externí odkaz:
http://arxiv.org/abs/1904.03158
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation of object
Externí odkaz:
http://arxiv.org/abs/1902.03690
Publikováno v:
In Journal of Building Engineering 15 April 2023 65
Hybrid systems theory has become a powerful approach for designing feedback controllers that achieve dynamically stable bipedal locomotion, both formally and in practice. This paper presents an analytical framework 1) to address multi-domain hybrid m
Externí odkaz:
http://arxiv.org/abs/1810.06697