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Impact-Aware Online Motion Planning for Fully-Actuated Bipedal Robot Walking
Planning and control of legged robots is a difficult problem due to hybr...
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Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway
The Cassie bipedal robot designed by Agility Robotics is providing acade...
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Learning a Centroidal Motion Planner for Legged Locomotion
Whole-body optimizers have been successful at automatically computing co...
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Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking
We present a trajectory planning and control architecture for bipedal lo...
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Fast Kinodynamic Bipedal Locomotion Planning with Moving Obstacles
We present a sampling-based kinodynamic planning framework for a bipedal...
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Path Planning Tolerant to Degraded Locomotion Conditions
Mobile robots, especially those driving outdoors and in unstructured ter...
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Real-time gait planner for human walking using a lower limb exoskeleton and its implementation on Exoped robot
Lower extremity exoskeleton has been developed as a motion assistive tec...
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Dynamic Humanoid Locomotion over Uneven Terrain With Streamlined Perception-Control Pipeline
Although bipedal locomotion provides the ability to traverse unstructured environments, it requires careful planning and control to safely walk across without falling. This poses an integrated challenge for the robot to perceive, plan, and control its movements, especially with dynamic motions where the robot may have to adapt its swing-leg trajectory onthe-fly in order to safely place its foot on the uneven terrain. In this paper we present an efficient geometric footstep planner and the corresponding walking controller that enables a humanoid robot to dynamically walk across uneven terrain at speeds up to 0.3 m/s. As dynamic locomotion, we refer first to the continuous walking motion without stopping, and second to the on-the-fly replanning of the landing footstep position in middle of the swing phase during the robot gait cycle. This is mainly achieved through the streamlined integration between an efficient sampling-based planner and robust walking controller. The footstep planner is able to generate feasible footsteps within 5 milliseconds, and the controller is able to generate a new corresponding swing leg trajectory as well as the wholebody motion to dynamically balance the robot to the newly updated footsteps. The proposed perception-control pipeline is evaluated and demonstrated with real experiments using a fullscale humanoid to traverse across uneven terrains featured by static stepping stones, dynamically movable stepping stone, or narrow path.
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