Reference-Free Model Predictive Control for Quadrupedal Locomotion

Autor: Gianni Lunardi, Thomas Corberes, Carlos Mastalli, Nicolas Mansard, Thomas Flayols, Steve Tonneau, Andrea Del Prete

Publikováno v: IEEE Access, Vol 12, Pp 689-698 (2024)

Full-dynamics model predictive control (MPC) has recently been applied to quadrupedal locomotion in semi-unstructured environments. These advances have been fueled by the availability of efficient trajectory optimization (TO) algorithms and inexpensi

Externí odkaz: https://doaj.org/article/a385703929cc4aa9b0aa06c1a7113ca6

Real-time Footstep Planning and Control of the Solo Quadruped Robot in 3D Environments

Autor: Fanny Risbourg, Thomas Corberes, Pierre-Alexandre Leziart, Thomas Flayols, Nicolas Mansard, Steve Tonneau

Publikováno v: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Oct 2022, Kyoto, Japan. ⟨10.1109/IROS47612.2022.9981539⟩

International audience; Quadruped robots have proved their robustness to cross complex terrain despite little environment knowledge. Yet advanced locomotion controllers are expected to take advantage of exteroceptive information. This paper presents

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::7f99bf0c0e307cb194813fdca7121032
https://doi.org/10.1109/iros47612.2022.9981539

Solving Footstep Planning as a Feasibility Problem Using L1-Norm Minimization

Autor: Nicolas Mansard, Pierre Fernbach, Thomas Flayols, Daeun Song, Steve Tonneau, Andrea Del Prete, Young J. Kim

Publikováno v: IEEE Robotics and Automation Letters
IEEE Robotics and Automation Letters, IEEE 2021, 6 (3), pp.5961-5968. ⟨10.1109/LRA.2021.3088797⟩
IEEE Robotics and Automation Letters, 2021, 6 (3), pp.5961-5968. ⟨10.1109/LRA.2021.3088797⟩
Song, D, Fernbach, P, Flayols, T, Prete, A D, Mansard, N, Tonneau, S & Kim, Y J 2021, ' Solving Footstep Planning as a Feasibility Problem Using L1-Norm Minimization ', IEEE Robotics and Automation Letters, vol. 6, no. 3, 9454381, pp. 5961-5968 . https://doi.org/10.1109/LRA.2021.3088797

Extended version of the paper to be published in IEEE Robotics and Automation Letters; International audience; One challenge of legged locomotion on uneven terrains is to deal with both the discrete problem of selecting a contact surface for each foo

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::bcd2a9219edf7a491fceb6f505d317d4
https://doi.org/10.1109/lra.2021.3088797

Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos

Autor: Nicolas Mansard, Guilhem Saurel, Steve Tonneau, Sylvain Calinon, Rohan Budhiraja, Adria Roig, Teguh Santoso Lembono, Olivier Stasse, Ewen Dantec, Pierre Fernbach, Michel Taix, Sethu Vijayakumar

Publikováno v: International Conference on Robotics and Automation (ICRA 2021)
International Conference on Robotics and Automation (ICRA 2021), IEEE, May 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9560742⟩
ICRA
Dantec, E, Budhiraja, R, Roig, A, Lembono, T, Saurel, G, Stasse, O, Fernbach, P, Tonneau, S, Vijayakumar, S, Calinon, S, Taïx, M & Mansard, N 2021, Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos . in 2021 IEEE International Conference on Robotics and Automation (ICRA) . Institute of Electrical and Electronics Engineers (IEEE), pp. 8202-8208, 2021 IEEE International Conference on Robotics and Automation, Xi'an, China, 30/05/21 . https://doi.org/10.1109/ICRA48506.2021.9560742
HAL

This paper presents the first successful experiment implementing whole-body model predictive control with state feedback on a torque-control humanoid robot. We demonstrate that our control scheme is able to do whole-body target tracking, control the

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::36970b38c30e7a1036e6b88cace1edfc
https://hal.archives-ouvertes.fr/hal-02995796v2/document

A Versatile Co-Design Approach For Dynamic Legged Robots

Autor: Traiko Dinev, Carlos Mastalli, Vladimir Ivan, Steve Tonneau, Sethu Vijayakumar

We present a versatile framework for the computational co-design of legged robots and dynamic maneuvers. Current state-of-the-art approaches are typically based on random sampling or concurrent optimization. We propose a novel bilevel optimization ap

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::f6986d319da05a543e2398f70ca9e29b
http://arxiv.org/abs/2103.04660