143 citations · 378 across the 39 of their papers we have counts for
36 papers · 1 filter
Adapting Rigid-Body Dynamics Derivatives for Constraint Embedding Closed-Chain Models
Daniel J. Volpi, Patrick M. Wensing
This paper extends an existing algorithm for the first-order derivatives of rigid-body dynamics to the case of closed-chain kinematic systems modeled using constraint embed- ding.…
Multi-Loco: Unifying Multi-Embodiment Legged Locomotion via Reinforcement Learning Augmented Diffusion
Shunpeng Yang, Zhen Fu, Zhefeng Cao +4
Generalizing locomotion policies across diverse legged robots with varying morphologies is a key challenge due to differences in observation/action dimensions and system dynamics.…
URDF+: An Enhanced URDF for Robots with Kinematic Loops
Matthew Chignoli, Jean-Jacques Slotine, Patrick M. Wensing +1
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 l…
Simultaneous Locomotion Mode Classification and Continuous Gait Phase Estimation for Transtibial Prostheses
Ryan Posh, Shenggao Li, Patrick Wensing
Recognizing and identifying human locomotion is a critical step to ensuring fluent control of wearable robots, such as transtibial prostheses. In particular, classifying the intend…
Task-Space Riccati Feedback based Whole Body Control for Underactuated Legged Locomotion
Shunpeng Yang, Zejun Hong, Sen Li +3
This manuscript primarily aims to enhance the performance of whole-body controllers(WBC) for underactuated legged locomotion. We introduce a systematic parameter design mechanism f…
Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control
He Li, Patrick M. Wensing
This work introduces an optimization-based locomotion control framework for on-the-fly synthesis of complex dynamic maneuvers. At the core of the proposed framework is a cascaded-f…