— We present a framework for dynamic quadrupedal locomotion over challenging terrain, where the choice of appropriate footholds is crucial for the success of the behaviour. We build a model of the environment on-line...
This paper presents a novel nonlinear disturbance rejection approach for high precision model-based control of hydraulic robots. While most disturbance rejection approaches make use of observers, we propose a novel ad...
This paper presents a novel nonlinear disturbance rejection approach for high precision model-based control of hydraulic robots. While most disturbance rejection approaches make use of observers, we propose a novel adaptive Unscented Kalman Filter to estimate the disturbances in an unbiased minimum-variance sense. The filter is made adaptive such that there is no need to tune the covariance matrix for the disturbance estimation. Furthermore, whereas most model-based control approaches require the linearization of the system dynamics, our method is nonlinear which means that no linearization is required. Through extensive simulations as well as real hardware experiments, we demonstrate that our proposed approach can achieve high precision tracking and can be readily applied to most robotic systems even in the presence of uncertainties and external disturbances. The proposed approach is also compared to existing approaches which demonstrates its superior tracking performance.
This paper presents a novel nonlinear disturbance rejection control for hydraulic robots. This method requires two third-order filters as well as inverse dynamics in order to estimate the disturbances. All the paramet...
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ISBN:
(纸本)9781728103785;9781728103778
This paper presents a novel nonlinear disturbance rejection control for hydraulic robots. This method requires two third-order filters as well as inverse dynamics in order to estimate the disturbances. All the parameters for the third-order filters are pre-defined. The proposed method is nonlinear, which does not require the linearization of the rigid body dynamics. The estimated disturbances are used by the nonlinear controller in order to achieve disturbance attenuation. The performance of the proposed approach is compared with existing approaches. Finally, the tracking performance and robustness of the proposed approach is validated extensively on real hardware by performing different tasks under either internal or both internal and external disturbances. The experimental results demonstrate the robustness and superior tracking performance of the proposed approach.
This paper presents a state and state-input constrained variant of the discrete-time iterative Linear Quadratic Regulator (iLQR) algorithm, with linear time-complexity in the number of time steps. The approach is base...
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We present an algorithm that generates walking motions for quadruped robots without the use of an explicit footstep planner by simultaneously optimizing over both the Center of Mass (CoM) trajectory and the footholds....
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This work addresses the problem of kinematic trajectory planning for mobile manipulators with non-holonomic constraints, and holonomic operational-space tracking constraints. We obtain whole-body trajectories and time...
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This paper presents a novel nonlinear disturbance rejection control for hydraulic robots. This method requires two third-order filters as well as inverse dynamics in order to estimate the disturbances. All the paramet...
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Despite the recent advances in, and the adoption of robotic technologies in the construction industry, the architectural processes which demand a high degree of geometric freedom still remain largely labour intensive ...
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This paper combines the fast Zero-Moment-Point (ZMP) approaches that work well in practice with the broader range of capabilities of a Trajectory Optimization formulation, by optimizing over body motion, footholds and...
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This work addresses the problem of kinematic trajectory planning for mobile manipulators with non-holonomic constraints, and holonomic operational-space tracking constraints. We obtain whole-body trajectories and time...
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