8 papers · 1 filter
VRA: Grounding Discrete-Time Joint Acceleration in Voltage-Constrained Actuation
Lingwei Zhang, Jiaming Wang, Tianlin Zhang +5
Discrete-time joint acceleration constraints are widely used to enforce position and velocity limits. However, under voltage-constrained electric actuators, kinematically admissibl…
Jumping Control for a Quadrupedal Wheeled-Legged Robot via NMPC and DE Optimization
Xuanqi Zeng, Lingwei Zhang, Linzhu Yue +4
Quadrupedal wheeled-legged robots combine the advantages of legged and wheeled locomotion to achieve superior mobility, but executing dynamic jumps remains a significant challenge…
Shared Object Manipulation with a Team of Collaborative Quadrupeds
Shengzhi Wang, Niels Dehio, Xuanqi Zeng +4
Utilizing teams of multiple robots is advantageous for handling bulky objects. Many related works focus on multi-manipulator systems, which are limited by workspace constraints. In…
Whole-Body Control Framework for Humanoid Robots with Heavy Limbs: A Model-Based Approach
Tianlin Zhang, Linzhu Yue, Hongbo Zhang +4
Humanoid robots often face significant balance issues due to the motion of their heavy limbs. These challenges are particularly pronounced when attempting dynamic motion or operati…
Online Omnidirectional Jumping Trajectory Planning for Quadrupedal Robots on Uneven Terrains
Linzhu Yue, Zhitao Song, Jinhu Dong +6
Natural terrain complexity often necessitates agile movements like jumping in animals to improve traversal efficiency. To enable similar capabilities in quadruped robots, complex r…
Adaptive Model Predictive Control with Data-driven Error Model for Quadrupedal Locomotion
Xuanqi Zeng, Hongbo Zhang, Linzhu Yue +3
Model Predictive Control (MPC) relies heavily on the robot model for its control law. However, a gap always exists between the reduced-order control model with uncertainties and th…