7 papers
Contact Optimization for Non-Prehensile Loco-Manipulation via Hierarchical Model Predictive Control
Alberto Rigo, Yiyu Chen, Satyandra K. Gupta +1
Recent studies on quadruped robots have focused on either locomotion or mobile manipulation using a robotic arm. Legged robots can manipulate heavier and larger objects using non-p…
Dynamic Walking of Bipedal Robots on Uneven Stepping Stones via Adaptive-frequency MPC
Junheng Li, Quan Nguyen
This paper presents a novel Adaptive-frequency MPC framework for bipedal locomotion over terrain with uneven stepping stones. In detail, we intend to achieve adaptive foot placemen…
Force-and-moment-based Model Predictive Control for Achieving Highly Dynamic Locomotion on Bipedal Robots
Junheng Li, Quan Nguyen
In this paper, we propose a novel framework on force-and-moment-based Model Predictive Control (MPC) for dynamic legged robots. Specifically, we present a formulation of MPC design…
Locomotion and Control of a Friction-Driven Tripedal Robot
Mark Hermes, Taylor McLaughlin, Mitul Luhar +1
This letter considers control of a radially symmetric tripedal friction-driven robot. The robot features 3 servo motors mounted on a 3-D printed chassis 7 cm from the center of mas…
Safe and Robust Motion Planning for Dynamic Robotics via Control Barrier Functions
Aniketh Manjunath, Quan Nguyen
Control Barrier Functions (CBF) are widely used to enforce the safety-critical constraints on nonlinear systems. Recently, these functions are being incorporated into a path planni…
Robust Safety-Critical Control for Dynamic Robotics
Quan Nguyen, Koushil Sreenath
We present a novel method of optimal robust control through quadratic programs that offers tracking stability while subject to input and state-based constraints as well as safety-c…