6 papers
Prioritized Hierarchical Compliance Control for Dual-Arm Robot Stable Clamping
Xiaoyu Ren, Liqun Huang, Mingguo Zhao
When a dual-arm robot clamps a rigid object in an environment for human beings, the environment or the collaborating human will impose incidental disturbance on the operated object…
Recursive Hierarchical Projection for Whole-Body Control with Task Priority Transition
Gang Han, Jiajun Wang, Xiaozhu Ju +1
Redundant robots are desired to execute multitasks with different priorities simultaneously. The task priorities are necessary to be transitioned for complex task scheduling of who…
Mixed Control for Whole-Body Compliance of a Humanoid Robot
Xiaozhu Ju, Jiajun Wang, Gang Han +1
The hierarchical quadratic programming (HQP) is commonly applied to consider strict hierarchies of multi-tasks and robot's physical inequality constraints during whole-body complia…
Whole-Body Control with Motion/Force Transmissibility for Parallel-Legged Robot
Jiajun Wang, Gang Han, Xiaozhu Ju +1
For achieving kinematically suitable configurations and highly dynamic task execution, an efficient way is to consider robot performance indices in the whole-body control (WBC) of…
Dynamic Balancing of Humanoid Robot Walker3 with Proprioceptive Actuation: Systematic Design of Algorithm, Software and Hardware
Yan Xie, Jiajun Wang, Hao Dong +3
Dynamic balancing under uncertain disturbances is important for a humanoid robot, which requires a good capability of coordinating the entire body redundancy to execute multi tasks…
Fast Online Planning for Bipedal Locomotion via Centroidal Model Predictive Gait Synthesis
Yijie Guo, Mingwei Zhang, Hao Dong +1
The planning of whole-body motion and step time for bipedal locomotion is constructed as a model predictive control (MPC) problem, in which a sequence of optimization problems need…