Recent Progress in Legged Robots Locomotion Control
暂无分享,去创建一个
[1] Pierre-Brice Wieber,et al. Linear model predictive control of the locomotion of Pepper, a humanoid robot with omnidirectional wheels , 2014, 2014 IEEE-RAS International Conference on Humanoid Robots.
[2] Bernd Henze,et al. Passivity-based whole-body balancing for torque-controlled humanoid robots in multi-contact scenarios , 2016, Int. J. Robotics Res..
[3] Pierre-Brice Wieber,et al. Hierarchical quadratic programming: Fast online humanoid-robot motion generation , 2014, Int. J. Robotics Res..
[4] Scott Kuindersma,et al. Optimization and stabilization of trajectories for constrained dynamical systems , 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).
[5] Jerry Pratt,et al. Velocity-Based Stability Margins for Fast Bipedal Walking , 2006 .
[6] Marco Hutter,et al. Per-Contact Iteration Method for Solving Contact Dynamics , 2018, IEEE Robotics and Automation Letters.
[7] Sylvain Miossec,et al. Planning contact points for humanoid robots , 2013, Robotics Auton. Syst..
[8] Jonas Buchli,et al. The control toolbox — An open-source C++ library for robotics, optimal and model predictive control , 2018, 2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR).
[9] Alin Albu-Schäffer,et al. Bipedal walking control based on Capture Point dynamics , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.
[10] Aaron D. Ames,et al. Dynamic Humanoid Locomotion: A Scalable Formulation for HZD Gait Optimization , 2018, IEEE Transactions on Robotics.
[11] Olivier Stasse,et al. Experimental evaluation of simple estimators for humanoid robots , 2017, 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids).
[12] Olivier Stasse,et al. A versatile and efficient pattern generator for generalized legged locomotion , 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).
[13] Twan Koolen,et al. Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models , 2011, Int. J. Robotics Res..
[14] Carlos Mastalli,et al. Simultaneous Contact, Gait, and Motion Planning for Robust Multilegged Locomotion via Mixed-Integer Convex Optimization , 2017, IEEE Robotics and Automation Letters.
[15] Nicolas Mansard,et al. Robustness to Joint-Torque-Tracking Errors in Task-Space Inverse Dynamics , 2016, IEEE Transactions on Robotics.
[16] Kazuhito Yokoi,et al. Biped walking stabilization based on linear inverted pendulum tracking , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.
[17] Pierre-Brice Wieber,et al. Holonomy and Nonholonomy in the Dynamics of Articulated Motion , 2006 .
[18] Russ Tedrake,et al. Localizing external contact using proprioceptive sensors: The Contact Particle Filter , 2016, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
[19] Gerardo Bledt,et al. Implementing Regularized Predictive Control for Simultaneous Real-Time Footstep and Ground Reaction Force Optimization , 2019, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
[20] Ludovic Righetti,et al. Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control , 2020, IEEE Robotics and Automation Letters.
[21] Johannes Englsberger,et al. Inclusion of Angular Momentum During Planning for Capture Point Based Walking , 2018, 2018 IEEE International Conference on Robotics and Automation (ICRA).
[22] Timothy Bretl,et al. Motion Planning of Multi-Limbed Robots Subject to Equilibrium Constraints: The Free-Climbing Robot Problem , 2006, Int. J. Robotics Res..
[23] Alin Albu-Schäffer,et al. Three-Dimensional Bipedal Walking Control Based on Divergent Component of Motion , 2015, IEEE Transactions on Robotics.
[24] Claude Samson,et al. Application of the Task-function Approach to Sensor-based Control of Robot Manipulators , 1990 .
[25] Justin Carpentier,et al. Dynamics Consensus between Centroidal and Whole-Body Models for Locomotion of Legged Robots , 2019, 2019 International Conference on Robotics and Automation (ICRA).
[26] Alexander Herzog,et al. Structured contact force optimization for kino-dynamic motion generation , 2016, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
[27] Nicolas Mansard,et al. HPP: A new software for constrained motion planning , 2016, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
[28] Yoshihiko Nakamura,et al. ZMP Support Areas for Multicontact Mobility Under Frictional Constraints , 2015, IEEE Transactions on Robotics.
[29] David Gouaillier,et al. Omni-directional closed-loop walk for NAO , 2010, 2010 10th IEEE-RAS International Conference on Humanoid Robots.
[30] Olivier Stasse,et al. Whole-body model-predictive control applied to the HRP-2 humanoid , 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
[31] Alexander Herzog,et al. Trajectory generation for multi-contact momentum control , 2015, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids).
[32] Zachary Manchester,et al. ALTRO: A Fast Solver for Constrained Trajectory Optimization , 2019, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
[33] Pierre-Brice Wieber,et al. Trajectory Free Linear Model Predictive Control for Stable Walking in the Presence of Strong Perturbations , 2006, 2006 6th IEEE-RAS International Conference on Humanoid Robots.
[34] Twan Koolen,et al. Julia for robotics: simulation and real-time control in a high-level programming language , 2019, 2019 International Conference on Robotics and Automation (ICRA).
[35] Pierre-Brice Wieber,et al. Whole body motion controller with long-term balance constraints , 2014, 2014 IEEE-RAS International Conference on Humanoid Robots.
[36] Giuseppe Oriolo,et al. Humanoid Robots in Aircraft Manufacturing: The Airbus Use Cases , 2019, IEEE Robotics & Automation Magazine.
[37] Marco Hutter,et al. Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds , 2017, IEEE Robotics and Automation Letters.
[38] Alin Albu-Schäffer,et al. Dynamic Walking on Compliant and Uneven Terrain using DCM and Passivity-based Whole-body Control , 2019, 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids).
[39] Kazuhito Yokoi,et al. Biped walking pattern generation by using preview control of zero-moment point , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).
[40] Timothy Bretl,et al. Motion Planning for Legged Robots on Varied Terrain , 2008, Int. J. Robotics Res..
[41] Eiichi Yoshida,et al. Comprehensive theory of differential kinematics and dynamics towards extensive motion optimization framework , 2018, Int. J. Robotics Res..
[42] Nicolas Mansard,et al. Multicontact Locomotion of Legged Robots , 2018, IEEE Transactions on Robotics.
[43] Simona Nobili,et al. Pronto: A Multi-Sensor State Estimator for Legged Robots in Real-World Scenarios , 2020, Frontiers in Robotics and AI.
[44] Robin Deits,et al. Footstep planning on uneven terrain with mixed-integer convex optimization , 2014, 2014 IEEE-RAS International Conference on Humanoid Robots.
[45] Jonas Buchli,et al. Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation , 2017, Adv. Robotics.
[46] Miomir Vukobratovic,et al. Contribution to the study of anthropomorphic systems , 1972, Kybernetika.
[47] Scott Kuindersma,et al. An efficiently solvable quadratic program for stabilizing dynamic locomotion , 2013, 2014 IEEE International Conference on Robotics and Automation (ICRA).
[48] R. McGhee,et al. The adaptive suspension vehicle , 1986, IEEE Control Systems Magazine.
[49] Marco Hutter,et al. Dynamic Locomotion Through Online Nonlinear Motion Optimization for Quadrupedal Robots , 2018, IEEE Robotics and Automation Letters.
[50] Alexander Herzog,et al. Walking Control Based on Step Timing Adaptation , 2017, IEEE Transactions on Robotics.
[51] Marco Hutter,et al. Gait and Trajectory Optimization for Legged Systems Through Phase-Based End-Effector Parameterization , 2018, IEEE Robotics and Automation Letters.
[52] Lorenz Wellhausen,et al. Learning quadrupedal locomotion over challenging terrain , 2020, Science Robotics.
[53] Alexander Herzog,et al. A convex model of humanoid momentum dynamics for multi-contact motion generation , 2016, 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids).
[54] Darwin G. Caldwell,et al. Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion , 2017, 2017 IEEE International Conference on Robotics and Automation (ICRA).
[55] Nicolas Mansard,et al. Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control , 2020, 2020 IEEE International Conference on Robotics and Automation (ICRA).
[56] Atsuo Kawamura,et al. Simulation of an autonomous biped walking robot including environmental force interaction , 1998, IEEE Robotics Autom. Mag..
[57] Karen Liu. Dynamic Animation and Robotics Toolkit , 2014 .
[58] Olivier Stasse,et al. Optimization based exploitation of the ankle elasticity of HRP-2 for overstepping large obstacles , 2014, 2014 IEEE-RAS International Conference on Humanoid Robots.
[59] Russ Tedrake,et al. A direct method for trajectory optimization of rigid bodies through contact , 2014, Int. J. Robotics Res..
[60] David E. Orin,et al. Centroidal dynamics of a humanoid robot , 2013, Auton. Robots.
[61] Johannes Englsberger,et al. Sensitivity of Legged Balance Control to Uncertainties and Sampling Period , 2019, IEEE Robotics and Automation Letters.
[62] Ludovic Righetti,et al. An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research , 2019, IEEE Robotics and Automation Letters.
[63] Nicolas Mansard,et al. Regularized Hierarchical Differential Dynamic Programming , 2017, IEEE Transactions on Robotics.
[64] Shuuji Kajita,et al. Study of dynamic biped locomotion on rugged terrain-derivation and application of the linear inverted pendulum mode , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.
[65] Roland Siegwart,et al. LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot With Kinematic Loops , 2020, IEEE Robotics and Automation Letters.
[66] Pierre-Brice Wieber,et al. Fast Direct Multiple Shooting Algorithms for Optimal Robot Control , 2005 .
[67] Hai Lin,et al. Approximate Simulation for Template-Based Whole-Body Control , 2020, IEEE Robotics and Automation Letters.
[68] Chonhyon Park,et al. An Efficient Acyclic Contact Planner for Multiped Robots , 2018, IEEE Transactions on Robotics.
[69] Marco Hutter,et al. ANYmal in the Field: Solving Industrial Inspection of an Offshore HVDC Platform with a Quadrupedal Robot , 2019, FSR.
[70] Nicolas Mansard,et al. Center-of-Mass Estimation for a Polyarticulated System in Contact—A Spectral Approach , 2016, IEEE Transactions on Robotics.
[71] Guy Bessonnet,et al. Forces acting on a biped robot. Center of pressure-zero moment point , 2004, IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans.
[72] Gerardo Bledt,et al. Extracting Legged Locomotion Heuristics with Regularized Predictive Control , 2020, 2020 IEEE International Conference on Robotics and Automation (ICRA).
[73] Ruben Grandia,et al. Feedback MPC for Torque-Controlled Legged Robots , 2019, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
[74] Russ Tedrake,et al. Whole-body motion planning with centroidal dynamics and full kinematics , 2014, 2014 IEEE-RAS International Conference on Humanoid Robots.
[75] Marco Hutter,et al. Rolling in the Deep – Hybrid Locomotion for Wheeled-Legged Robots Using Online Trajectory Optimization , 2020, IEEE Robotics and Automation Letters.
[76] Nicolas Mansard,et al. Contact forces pre-integration for the whole body estimation of legged robots , 2021, ICRA 2021.
[77] Nicolas Mansard,et al. Analytical Derivatives of Rigid Body Dynamics Algorithms , 2018, Robotics: Science and Systems.
[78] Kazuhito Yokoi,et al. Resolved momentum control: humanoid motion planning based on the linear and angular momentum , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).
[79] Zoran Popovic,et al. Discovery of complex behaviors through contact-invariant optimization , 2012, ACM Trans. Graph..
[80] Giuseppe Oriolo,et al. MPC for Humanoid Gait Generation: Stability and Feasibility , 2019, IEEE Transactions on Robotics.
[81] Claudio Semini,et al. Feasible Region: An Actuation-Aware Extension of the Support Region , 2019, IEEE Transactions on Robotics.
[82] Scott Kuindersma,et al. Modeling and Control of Legged Robots , 2016, Springer Handbook of Robotics, 2nd Ed..
[83] Adrien Escande,et al. Geometric and Numerical Aspects of Redundancy , 2017 .
[84] Olivier Stasse,et al. Continuous Legged Locomotion Planning , 2017, IEEE Transactions on Robotics.
[85] Edo Jelavic,et al. Robust whole-body motion control of legged robots , 2017, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
[86] Sangbae Kim,et al. Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control , 2018, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
[87] Steven M. LaValle,et al. Planning algorithms , 2006 .
[88] Christopher G. Atkeson,et al. Robust dynamic walking using online foot step optimization , 2016, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
[89] Pierre-Yves Oudeyer,et al. Poppy: Open source 3D printed robot for experiments in developmental robotics , 2014, 4th International Conference on Development and Learning and on Epigenetic Robotics.
[90] Takashi Matsumoto,et al. Real time motion generation and control for biped robot -2nd report: Running gait pattern generation- , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.
[91] Martin L. Felis. RBDL: an efficient rigid-body dynamics library using recursive algorithms , 2017, Auton. Robots.
[92] Olivier Stasse,et al. C-CROC: Continuous and Convex Resolution of Centroidal Dynamic Trajectories for Legged Robots in Multicontact Scenarios , 2020, IEEE Transactions on Robotics.
[93] Olivier Stasse,et al. The Pinocchio C++ library : A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives , 2019, 2019 IEEE/SICE International Symposium on System Integration (SII).
[94] Alexander Werner,et al. Optimal and robust walking using intrinsic properties of a series-elastic robot , 2017, 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids).
[95] Joonho Lee,et al. Learning agile and dynamic motor skills for legged robots , 2019, Science Robotics.
[96] Siddhartha S. Srinivasa,et al. DART: Dynamic Animation and Robotics Toolkit , 2018, J. Open Source Softw..