One-Shot Bipedal Robot Dynamics Identification With a Reservoir-Based RNN
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Access"
DOI: 10.1109/access.2023.3277977
Abstract: The nonlinear inverted pendulum model of a lightweight bipedal robot is identified in real-time using a reservoir-based Recurrent Neural Network (RNN). The adaptation occurs online, while a disturbance force is repeatedly applied to the robot… read more here.
Keywords: reservoir based; based rnn; one shot; bipedal robot ... See more keywords
Risk-Averse Control via CVaR Barrier Functions: Application to Bipedal Robot Locomotion
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Control Systems Letters"
DOI: 10.1109/lcsys.2021.3086854
Abstract: Enforcing safety in the presence of stochastic uncertainty is a challenging problem. Traditionally, researchers have proposed safety in the statistical mean as a safety measure for systems subject to stochastic uncertainty. However, ensuring safety in… read more here.
Keywords: safety; cvar; cvar barrier; robot locomotion ... See more keywords
LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot With Kinematic Loops
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2020.2979625
Abstract: We present a hierarchical whole-body controller leveraging the full rigid body dynamics of the wheeled bipedal robot Ascento. We derive closed-form expressions for the dynamics of its kinematic loops in a way that readily generalizes… read more here.
Keywords: body; bipedal robot; wheeled bipedal; whole body ... See more keywords
Dynamic balance of a bipedal robot using neural network training with simulated annealing
Sign Up to like & getrecommendations! Published in 2022 at "Frontiers in Neurorobotics"
DOI: 10.3389/fnbot.2022.934109
Abstract: This work proposes using an evolutionary optimization method known as simulated annealing to train artificial neural networks. These neural networks are used to control posture stabilization of a humanoid robot in a simulation. A total… read more here.
Keywords: neural networks; balance bipedal; simulated annealing; bipedal robot ... See more keywords
Standing Balance Control of a Bipedal Robot Based on Behavior Cloning
Sign Up to like & getrecommendations! Published in 2022 at "Biomimetics"
DOI: 10.3390/biomimetics7040232
Abstract: Bipedal robots have gained increasing attention for their human-like mobility which allows them to work in various human-scale environments. However, their inherent instability makes it difficult to control their balance while they are physically interacting… read more here.
Keywords: balance; control; bipedal robot; behavior cloning ... See more keywords