Embedded Files
Topic #2: Whole-body Controller for Legged Robots
Topic #2: Whole-body Controller for Legged Robots
Motivation
Motivation
Humans decide current step based on the prediction of future steps
Likewise, humanoids and quadruped robots require prediction of the future for multi-contact locomotion
Problem Statements: High-dimensional space (poor real-time performance) and complex dynamics (instability of controller)
Problem Statements: High-dimensional space (poor real-time performance) and complex dynamics (instability of controller)
Our Researches
Our Researches
Whole-body controller with inverse dynamics
Whole-body controller with inverse dynamics
Operational Space Controller with Inverse Dynamics
No falling during DARPA Robotics Challenge Finals 2015
Compliance Controller of humanoid robot with DoB
Compliance Controller of humanoid robot with DoB
Design of Disturbance observer to overcome a large elasticity of actuators
Compliant Control with Measured Disturbance
HQP controller with weighted joint distribution
HQP controller with weighted joint distribution
Trajectory Optimization for overcoming dynamic coupling with quadruped robot and manipulator
Industry-Academia Cooperation (8800만원)
Learning to Guide Online Multi-contact Receding Horizon
Learning to Guide Online Multi-contact Receding Horizon
Learned oracle that can predict local objectives, which are used for building local value function.
Global Collaboration (University of Ediniburgh)
Page updated
Report abuse