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Showing 1 to 8 of 8 for “"Quadrupedal robots"”.
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Collaborative Locomotion of Quadrupedal Robots: From Centralized Predictive Control to Distributed Control
… aims to realize the goal of deploying legged robots that cooperatively walk to transport objects in complex environments. More than half of the Earth's continent is unreachable to wheeled vehicles---this motivates the deployment of collaborative legged robots to enable the accessibility of …
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Distributed Feedback Control Algorithms for Cooperative Locomotion: From Bipedal to Quadrupedal Robots
… control algorithms with application to legged robots. It explores both naturally decentralized problems in legged locomotion, such as the collaborative control of human-lower extremity prosthesis and the decomposition of high-dimensional controllers of a naturally centralized problem into a …
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Safe Navigation of Multi-Agent Quadrupedal Robots: A Hierarchical Control Framework Based on Distributed Predictive Control and Control Barrier Functions
… navigation, planning, and control of multi-agent quadrupedal robots collaborating in uncertain environments. Quadrupedal robots are high-dimensional, complex systems that are inherently unstable, posing significant challenges in designing predictive control laws. Template models offer a solution …
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Adaptive Predictive Controllers for Agile Quadrupedal Locomotion with Unknown Payloads
Quadrupedal robots play a vital role in various applications, from search and rescue operations to exploration in challenging terrains. However, locomotion tasks involving unknown payload transportation on rough terrains pose significant challenges, requiring adaptive control strategies to ensure …
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Hierarchical controller for highly dynamic locomotion utilizing pattern modulation and impedance control : implementation on the MIT Cheetah robot
… presents a hierarchical control algorithm for quadrupedal locomotion. We address three challenges in developing a controller for high-speed running: locomotion stability, control of ground reaction force, and coordination of four limbs. To tackle these challenges, the proposed algorithm employs …
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Characterization of gait energetics for electrically actuated quadrupeds
Despite the development of many quadrupedal robots and variety of possible running gaits, relatively little is known on the mechanisms that interplay between gait patterns and efficiency of quadrupedal machines. To gain insight on the energetics of robotic running, this work presents a study of the …
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Robust Predictive Control for Legged Locomotion
… robust control solutions that can enable legged robots to navigate complex unknown environments. The idea of creating articulated-legged machines that can mimic animal locomotion has fueled the imagination of many researchers. These legged robots are designed to assist humans in their day-to-day …