Online Hierarchical Optimization for Humanoid Control

Online Hierarchical Optimization for. Humanoid Control. Siyuan Feng. CMU-RI-TR-16-03. February 2016. The Robotics Institute. Carnegie Mellon University.

This thesis presents an online approach for controlling humanoid robots using hierarchical optimization. While our primary focus is to develop a fast and ...

Online Hierarchical Optimization for Humanoid Control

The primary focus is to develop a fast and robust walking controller that is able to follow desired foot steps, and dynamic walking with strong ...

Hierarchical Learning Framework for Whole-Body Model Predictive ...

... human motor control. It has been suggesteed that control policies are reoptimized online in human motor control, and this process can be ...

Hierarchical Quadratic Programming: Fast Online Humanoid-Robot ...

Hierarchical least-square optimization is of- ten used in robotics to inverse a direct function when multiple incompatible objectives are in- volved.

Hierarchical World Models as Visual Whole-Body Humanoid ... - arXiv

During inference, TD-MPC2 follows the Model Predictive Control (MPC) framework for local trajectory optimization using Model Predictive Path ...

Whole body control using Robust & Online hierarchical quadratic ...

1PAL Robotics S.L.. Abstract— Recently, several formulations have been proposed to add inequality constraints to multi objective prioritized optimization ...

‪Siyuan Feng‬ - ‪Google Scholar‬

Online Hierarchical Optimization for Humanoid Control. S Feng. Carnegie Mellon University, USA, 2016. 26, 2016. The parkourbot-a dynamic bowleg climbing robot.

Fast online humanoid-robot motion generation - College of Charleston

Hierarchical least-square optimization is often used in robotics to inverse a direct function when multiple incompatible objectives are involved.

Fast online humanoid-robot motion generation - Archive ouverte HAL

Hierarchical least-square optimization is often used in ... BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems.

Hierarchical quadratic programming: : Fast online humanoid-robot ...

Hierarchical least-square optimization is often used in robotics to inverse a direct function when multiple incompatible objectives are involved.

Hierarchical optimization for Whole-Body Control of Wheeled ...

In this paper, we present a whole-body control framework for Wheeled Inverted Pendulum (WIP) Humanoids. WIP Humanoids are redundant manipulators dynamically ...

MPC-Based Hierarchical Task Space Control of Underactuated and ...

Wieber, “Hierarchical quadratic programming: Fast online humanoid-robot motion generation,” The. International Journal of Robotics Research, vol. 33, no. 7 ...

Balancing a humanoid robot with a prioritized contact force distribution

Hirzinger, “Posture and balance control for biped robots based on contact force optimization,” in Humanoid. Robots (Humanoids), 2011 11th IEEE-RAS International ...

Hierarchical Optimization-based Control for Whole-body Loco ...

... online manipulation planner computes the manipulation forces and ... Multi-contact MPC for Dynamic Loco-manipulation on Humanoid Robots.

Computationally Affordable Hierarchical Framework for Humanoid ...

Our framework allowed a large computational time of 100 ms in each control cycle. This enables online trajectory optimization to predict 50 ...

Hierarchical quadratic programming: Fast online humanoid-robot ...

Parametric optimization. The major recognized interest of hierarchical optimization in robotics is in control, for IK and ID. In these contexts, the problem ...

Hierarchical learning control with physical human-exoskeleton ...

However, the pHRI in lower exoskeleton is changing with different pilots and walking patterns, which make the controller should be learned online to adapt ...

Dynamic Balancing of Humanoid Robot with Proprioceptive Actuation

... control, hierarchical optimization, humanoid robot balance, proprioceptive actuation. Go to: 1. Introduction. Scholars have studied humanoid ...

Hierarchical Trajectory Optimization for Humanoid Robot Jumping ...

Request PDF | Hierarchical Trajectory Optimization for Humanoid Robot Jumping Motion | In order to make the robot have high dynamic motion ability, ...