Zobrazeno 1 - 10
of 22
pro vyhledávání: '"Wen-Loong Ma"'
Autor:
Noel Csomay-Shanklin, Aaron D. Ames, Koushil Sreenath, Wen-Loong Ma, Yu Sun, Masayoshi Tomizuka, Xiang Zhang, Wyatt Ubellacker, Changhao Wang
Publikováno v:
IEEE Robotics and Automation Letters. 6:8442-8449
The performance of a model-based controller can severely suffer when its model inaccurately represents the real world dynamics. We propose to learn a time-varying, locally linear residual model along the robot’s current trajectory, to compensate fo
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::0de732056d95449516bff59053383504
https://doi.org/10.1109/lra.2021.3108510
https://doi.org/10.1109/lra.2021.3108510
Publikováno v:
IEEE Robotics and Automation Letters. 6:3761-3768
This letter addresses the problem of formally guaranteeing the stability of interconnected systems with local controllers with a view toward stabilizing quadrupeds viewed as coupled bipeds. In particular, we present a novel framework that views gener
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::d5ab63508337cd02b76939fcd4c27734
https://doi.org/10.1109/lra.2021.3065174
https://doi.org/10.1109/lra.2021.3065174
Publikováno v:
ICRA
Robotic hopping requires high performance and precision, due to its extreme interactions with the environment. Designing a system that will perform optimally, or even stably, for this motion primitive is a significant challenge. In previous work, it
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::aac14e86cb3e57dd38987f7363d051d2
https://doi.org/10.1109/icra48506.2021.9561322
https://doi.org/10.1109/icra48506.2021.9561322
Publikováno v:
IROS
Can we design motion primitives for complex legged systems uniformly for different terrain types without neglecting modeling details? This paper presents a method for rapidly generating quadrupedal locomotion on sloped terrains—from modeling to gai
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::2ac2f7605f98d3761ebaae5339495952
https://doi.org/10.1109/iros45743.2020.9341181
https://doi.org/10.1109/iros45743.2020.9341181
Autor:
Wen-Loong Ma, Aaron D. Ames
Publikováno v:
ICRA
This paper systematically decomposes a quadrupedal robot into bipeds to rapidly generate walking gaits and then recomposes these gaits to obtain quadrupedal locomotion. We begin by decomposing the full-order, nonlinear and hybrid dynamics of a three-
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::9c81cdccc973d6833b9ee48910d7004a
https://resolver.caltech.edu/CaltechAUTHORS:20191115-153429777
https://resolver.caltech.edu/CaltechAUTHORS:20191115-153429777
A robotic system can be viewed as a collection of lower-dimensional systems that are coupled via reaction forces (Lagrange multipliers) enforcing holonomic constraints. Inspired by this viewpoint, this paper presents a novel formulation for nonlinear
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::16b04819805c009830a453383c46690d
http://arxiv.org/abs/2003.08507
http://arxiv.org/abs/2003.08507
Autor:
Austin Jones, Aaron D. Ames, Jessy W. Grizzle, Shishir Kolathaya, Wen-Loong Ma, Paulo Tabuada, Bastian Schürmann, Matthias Rungger
Publikováno v:
Nonlinear Analysis: Hybrid Systems. 25:155-173
Bipedal robots are prime examples of complex cyber–physical systems (CPSs). They exhibit many of the features that make the design and verification of CPS so difficult: hybrid dynamics, large continuous dynamics in each mode (e.g., 10 or more state
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::eea0258857be817ad56f159116be7e7a
https://doi.org/10.1016/j.nahs.2017.01.002
https://doi.org/10.1016/j.nahs.2017.01.002
Publikováno v:
IROS
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:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::f576bb907fc38a06b496819596719406
http://arxiv.org/abs/1909.08124
http://arxiv.org/abs/1909.08124
Publikováno v:
ICRA
Dynamic bipedal robot locomotion has achieved remarkable success due in part to recent advances in trajectory generation and nonlinear control for stabilization. A key assumption utilized in both theory and experiments is that the robot's stance foot
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::868cbcf421050663c3dc9d48b16334fb
https://resolver.caltech.edu/CaltechAUTHORS:20190201-135608505
https://resolver.caltech.edu/CaltechAUTHORS:20190201-135608505
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:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::5fa119a2af2c98bae53b9afc824f1881
http://arxiv.org/abs/1904.03158
http://arxiv.org/abs/1904.03158