Online Hierarchical Optimization for Humanoid Control

Robot Control - Humanoids and Human Centered Mechatronics - IIT

... optimization techniques and impedance modulation control to realize whole ... online as the human operator feeds high-level commands to the robot ...

Versatile Reactive Bipedal Locomotion Planning Through ...

propose a two-layer hierarchical optimization framework to address this issue and provide the humanoids with the abilities of step time and step location ...

Full article: Model predictive control of legged and humanoid robots

Optimization based locomotion planning, estimation and control design for the atlas humanoid robot. ... Fast model predictive control using online optimization.

Online Centroidal Angular Momentum Reference Generation and ...

title={Online Centroidal Angular Momentum Reference Generation and Motion Optimization for Humanoid Push Recovery}, ... Herzog et al., “Momentum control with ...

Research - LeCAR Lab

We are particularly interested in hierarchical and superpositional RL and control approaches. ... control, online optimization and MPC, just to name a few. We ...

Hierarchical Optimization Control and Robust Imitation Learning for ...

compliant control in human-robot interaction [4], ect. Generally, the ... optimization problem online. The experimental results of the oral cavity ...

Online Dynamic Motion Planning and Control for Wheeled Biped ...

and hierarchical optimization,” in 2016 IEEE-RAS 16th International. Conference on Humanoid Robots (Humanoids), pp. 558–564, IEEE,. 2016. [26] A. Herzog, L ...

An Integrated System for Real-Time Model Predictive Control of ...

Therefore, online trajectory optimization for a humanoid is a significant com- putational challenge. This can be side-stepped by creating a reduced model, but ...

Whole-body Motion Control for Floating-base Multi-link Robots ...

Online hierarchical optimization for humanoid control. 2016. [55] Yuta Kojio, Yasuhiro Ishiguro, Fumihito Sugai, Yohei Kakiuchi, Kei Okada,. Masayuki Inaba ...

Multi-Agent Manipulation via Locomotion using Hierarchical Sim2Real

Online hierarchical optimization for humanoid control. 2016. [23] M. Zucker ... Combining model-based policy search with online model learning for control of ...

dm_robotics/cpp/least_squares_qp/README.md at main - GitHub

is the solution to the optimization problem of the previous hierarchy. ... Tsagarakis, “Opensot: a whole-body control library for the compliant humanoid ...

ARC-OPT - Softwaretools: Robotics Innovation Center - DFKI GmbH

Optimization-based Control, Whole-Body Control, Humanoid Robotics ... online optimization problem. In each control cycle, the optimization ...

Dynamic Balancing of Humanoid Robot with Proprioceptive Actuation

... hierarchical real-time WBC with a systematic design. Keywords: whole-body control; hierarchical optimization; humanoid robot balance; proprioceptive actuation ...

An Inverse Optimal Control Approach for the Transfer of Human ...

We present one computational cycle (from motion capture data to an optimized robot motion) for the example of walking over irregular step stones with the aim to ...

Versatile Locomotion Planning and Control for Humanoid Robots

“Fast Online Trajectory Optimization for the Bipedal Robot Cassie,” in Robotics: Science and Systems (Pittsburgh, Pennsylvania, USA, 101, 14.

Design of a Momentum-Based Control Framework and Application ...

Wieber, Hierarchical quadratic programming: Fast online humanoid-robot motion generation, Int. J. Robot. Res. (2014) 0278364914521306. Crossref, Web of ...

Optimization-based Locomotion Planning, Estimation, and Control ...

1 The Boston Dynamics Atlas humanoid robot and the Carnegie Robotics Multisense. SL sensor head equipped with a rotating LIDAR scanner and a stereo cameras. ( ...

Hierarchical motor control in mammals and machines - Nature

Synthesis and stabilization of complex behaviors through online trajectory optimization. In 2012 IEEE/RSJ International Conference on ...

Momentum Control with Hierarchical Inverse Dynamics on a Torque ...

In order to en-. Page 5. Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid. 5 sure that we optimize over the ...

Optimization and Control of Dynamic Humanoid Running and Jumping

planning for online control with the humanoid. With this controller, the humanoid is capable of Olympic speed running and is robust to push disturbances ...