Online Gain Adaptation of Whole|Body Control for Legged Robots ...

Online Gain Adaptation of Whole-Body Control for Legged Robots ...

This paper proposes an online gain adaptation approach to enhance the robustness of whole-body control (WBC) framework for legged robots under unknown external ...

Online Gain Adaptation of Whole-Body Control for Legged Robots ...

This paper proposes an online gain adaptation approach to enhance the robustness of whole-body control (WBC) framework for legged robots under unknown ...

Online Gain Adaptation of Whole-Body Control for Legged Robots ...

This paper proposes an online gain adaptation approach to enhance the robustness of whole-body control (WBC) framework for legged robots ...

Deep Whole-Body Control: Learning a Unified Policy for ...

Abstract. An attached arm can significantly increase the applicability of legged robots to several mobile manipulation tasks that are not possible for the ...

Learning a Unified Policy for Manipulation and Locomotion - arXiv

... whole-body control of a legged manipulator using reinforcement learning. We propose Regularized Online Adaptation to bridge the Sim2Real gap ...

Whole-Body MPC and Online Gait Sequence Generation for ...

Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots ... online gait sequence adaptation possible. Aperiodic gait sequences are ...

RL2AC: Reinforcement Learning-based Rapid Online Adaptive ...

Online Adaptive Control for Legged Robot Robust. Locomotion. Shangke ... signals calculated from Whole Body Control (WBC). The.

Visual Whole-Body Control for Legged Loco-Manipulation - arXiv

We study the problem of mobile manipulation using legged robots equipped with an arm, namely legged loco-manipulation.

A novel adaptive dynamic optimal balance control method for wheel ...

The wheel-legged robots combine efficient and fast wheeled locomotion with the terrain-adaptive legged locomotion.

(PDF) Whole-Body MPC and Online Gait Sequence Generation for ...

... controlled legged robots,” in IEEE/RSJ Int. Conf. on Intelligent. Robots and Systems, 2019, pp. 4730–4737. [34] M. Neunert, M. Stäuble, M ...

Whole-Body MPC and Online Gait Sequence Generation for ...

The understanding of locomotion principles has led to simplified models and heuristics that are widely used as templates to control legged robots [4]–[10].

Online Optimal Impedance Planning for Legged Robots - IEEE Xplore

... robot body by the Cartesian impedance controller. Stability during gains variation is also guaranteed. The effectiveness of the method is experimentally ...

Whole-Body MPC and Online Gait Sequence Generation for ...

The understanding of locomotion principles has led to simplified models and heuristics that are widely used as templates to control legged robots [4]–[10].

Visual Whole-Body Manipulation and Locomotion for Legged Robots

... whole-body movements. In this talk, I will focus on how to achieve dynamic, scalable skills for legged robots in real-world settings, by ...

Hierarchical optimum control of a novel wheel-legged quadruped

... whole-body controller to achieve the hybrid motion of the robot. Furthermore, an online trajectory optimization(TO) framework [29] and a whole-body MPC ...

Teleoperating a Legged Manipulator Through Whole-Body Control

The whole-body motion capture suit with an IK retargeting method is shown in [5] to control multiple humanoid robots, but the centre of mass ( ...

ICRA - Dynamic Legged Systems - IIT

Whole-Body Control (WBC) has emerged as an important framework in locomotion control for legged robots. ... STANCE allowed HyQ to adapt online to terrains ...

RMA: Rapid Motor Adaptation for Legged Robots - Ashish Kumar

controller with fixed gains (Kp = 55 and Kd = 0.8). Simulation Setup: We use the RaiSim simulator [21] for rigid-body and contact dynamics simulation. We ...

Deep Whole-Body Control: Learning a Unified Policy ... - OpenReview

Abstract: An attached arm can significantly increase the applicability of legged robots to several mobile manipulation tasks that are not ...

legged robots Latest Research Papers - ScienceGate

This paper proposes an online gain adaptation approach to enhance the robustness of whole-body control (WBC) framework for legged robots under unknown ...