A5054920310- Prosthetics and Rehabilitation Robotics
- Robotic Locomotion and Control
- Robotic Mechanisms and Dynamics
- Robot Manipulation and Learning
- Reinforcement Learning in Robotics
- Neurogenetic and Muscular Disorders Research
- Winter Sports Injuries and Performance
- Hydraulic and Pneumatic Systems
- Real-time simulation and control systems
Tsinghua University
2022-2024
Balancing is a fundamental task in the motion control of bipedal robots. Compared to two-foot balancing, one-foot balancing introduces new challenges, such as smaller supporting polygon and difficulty coming from kinematic coupling between center mass (CoM) swinging leg. Although nonlinear model predictive (NMPC) may solve this problem, it not feasible implement on actual robot because its large amount calculation. This paper proposes three-particle (TP-MPC) approach. It combines with...
Hopping is a challenging action of bipedal robots and critical in robotic motions such as obstacle crossing. However, the inherent dynamics robot are so complex that only Superior-performance planning control algorithms can achieve perfect hopping. Unfortunately, nonlinear model predictive (NMPC) isn't easy to apply physical because it computationally expensive. In this paper, we propose method based on spring loaded inverted pendulum (SLIP) generate center mass (CoM) trajectory for periodic...
Abstract Squatting is a basic movement of bipedal robots, which essential in robotic actions like jumping or picking up objects. Due to the intrinsic complex dynamics perfect squatting motion requires high‐performance planning and control algorithms. The standard academic solution combines model predictive (MPC) with whole‐body (WBC), usually computationally expensive difficult implement on practical robots limited computing resources. real‐time kinematic prediction (RKP) method proposed,...