2 citations · 3 across the 2 of their papers we have counts for
6 papers · 1 filter
Underactuated Motion Planning and Control for Jumping with Wheeled-Bipedal Robots
Hua Chen, Bingheng Wang, Zejun Hong +3
This paper studies jumping for wheeled-bipedal robots, a motion that takes full advantage of the benefits from the hybrid wheeled and legged design features. A comprehensive hierar…
Approximate Simulation for Template-Based Whole-Body Control
Vince Kurtz, Patrick M. Wensing, Hai Lin
Reduced-order template models are widely used to control high degree-of-freedom legged robots, but existing methods for template-based whole-body control rely heavily on heuristics…
Hybrid Systems Differential Dynamic Programming for Whole-Body Motion Planning of Legged Robots
He Li, Patrick M. Wensing
This paper presents a Differential Dynamic Programming (DDP) framework for trajectory optimization (TO) of hybrid systems with state-based switching. The proposed Hybrid Systems DD…
Optimal Control of a Differentially Flat 2D Spring-Loaded Inverted Pendulum Model
Hua Chen, Patrick M. Wensing, Wei Zhang
This paper considers the optimal control problem of an extended spring-loaded inverted pendulum (SLIP) model with two additional actuators for active leg length and hip torque modu…
Formal Connections between Template and Anchor Models via Approximate Simulation
Vince Kurtz, Rafael Rodrigues da Silva, Patrick M. Wensing +1
Reduced-order template models like the Linear Inverted Pendulum (LIP) and Spring-Loaded Inverted Pendulum (SLIP) are widely used tools for controlling high-dimensional humanoid rob…
MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion
Octavio Villarreal, Victor Barasuol, Patrick M. Wensing +2
We present a novel control strategy for dynamic legged locomotion in complex scenarios, that considers information about the morphology of the terrain in contexts when only on-boar…