Feedback Control for Autonomous Riding of Hovershoes by a Cassie Bipedal Robot

@article{Chen2019FeedbackCF,
  title={Feedback Control for Autonomous Riding of Hovershoes by a Cassie Bipedal Robot},
  author={Shuxiao Chen and Jonathan D. Rogers and Bike Zhang and Koushil Sreenath},
  journal={2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)},
  year={2019},
  pages={1-8}
}
Motivated towards achieving multi-modal locomotion, in this paper, we develop a framework for a bipedal robot to dynamically ride a pair of Hovershoes over various terrain. Our developed control strategy enables the Cassie bipedal robot to interact with the Hovershoes to balance, regulate forward and rotational velocities, achieve fast turns, and move over flat terrain, slopes, stairs, and rough outdoor terrain. Our sensor suite comprising of tracking and depth cameras for visual SLAM as well… 

Motion Planning and Feedback Control for Bipedal Robots Riding a Snakeboard

This paper formulates a methodology to plan and control flat-terrain motions of an underactuated bipedal robot riding a snakeboard, which is a steerable variant of the skateboard. We use tools from

System Design and Balance Control of a Bipedal Leg-wheeled Robot

TLDR
This paper introduces a 6-DOF bipedal leg-wheeled robot SR600, which has two actuated wheels at the end of the robot shanks, and achieves its balance and locomotion through wheel-driven approach.

Geometric Control and Learning for Dynamic Legged Robots

TLDR
It is shown that Euler-parametrization based orientation control in 3D requires greater input to stabilize on average, not just for large-error situations, and a model-based gait library design and deep learning are combined to yield a near constant-time and constant-memory policy for fast, stable and robust bipedal robot locomotion.

Ball Juggling on the Bipedal Robot Cassie

TLDR
Results show that the proposed strategy for successful ball-juggling on the bipedal robotic research platform Cassie is robust to a wide range of physical parameters and that the act of juggling while balancing is achievable through multiple methods.

Gyrubot: nonanthropomorphic stabilization for a biped

TLDR
This paper describes the mechanical design and the architecture of the controllers of gyrubot, a 5-link almost planar bipedal robot with a torso complemented by a nonanthropomorphic stabilization system, capable of blindly walking through uneven areas.

References

SHOWING 1-10 OF 18 REFERENCES

Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway

TLDR
This paper focuses on feedback control for standing and walking using the methods of virtual constraints and gait libraries and the designed controller was implemented six weeks after the Cassie bipedal robot arrived at the University of Michigan.

Keep Rollin’—Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots

TLDR
The superiority of wheeled-legged robots compared to their legged counterparts is proved with a speed of 4  m/s and a reduction of the cost of transport by 83%, and dynamic locomotion strategies for wheeled quadrupedal robots that combine the advantages of both walking and driving are shown.

Realization by Biped Leg-wheeled Robot of Biped Walking and Wheel-driven Locomotion

TLDR
A biped robot to be able to walk or wheel according to the ground conditions and a path planning for wheeled locomotion is presented.

Robot System of DRC‐HUBO+ and Control Strategy of Team KAIST in DARPA Robotics Challenge Finals

TLDR
This paper summarizes how Team KAIST prepared for the DARPA Robotics Challenge (DRC) Finals, especially in terms of the robot system and control strategy and presents control methods, such as inverse kinematics, compliance control, a walking algorithm, and a vision algorithm, all of which were implemented to accomplish the tasks.

A Benchmark Comparison of Monocular Visual-Inertial Odometry Algorithms for Flying Robots

TLDR
This paper evaluates an array of publicly-available VIO pipelines on different hardware configurations, including several single-board computer systems that are typically found on flying robots, and considers the pose estimation accuracy, per-frame processing time, and CPU and memory load while processing the EuRoC datasets.

Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors

TLDR
Preliminary experiments show that using the proposed method in addition to IMU decreases drift and improves localization accuracy, suggesting that its use can enable successful recovery from a loss of visual tracking.

Riding and Speed Governing for Parallel Two-Wheeled Scooter Based on Sequential Online Learning Control by Humanoid Robot

TLDR
The Sequential Online Learning Control method, composed of the cascade connection of SGD-based open-loop Learning Control and Mini-batch-based closed-loop learning Control, is proposed and the validity of SOLC is shown through the sequential experiment of riding and speed governing for parallel two-wheeled scooter by life-sized humanoid robot HRP2-JSK.

OctoMap: an efficient probabilistic 3D mapping framework based on octrees

TLDR
An open-source framework to generate volumetric 3D environment models based on octrees and uses probabilistic occupancy estimation that represents not only occupied space, but also free and unknown areas and an octree map compression method that keeps the 3D models compact.

Supporting Search and Rescue Operations with UAVs

  • S. WaharteA. Trigoni
  • Computer Science
    2010 International Conference on Emerging Security Technologies
  • 2010
TLDR
This paper discusses how fundamental parameters need to be accounted for in the design of the search algorithms, and studies the performance of different search algorithms when the time to find the victim is the optimization criterion.

Visual-inertial navigation, mapping and localization: A scalable real-time causal approach

TLDR
An integrated approach to ‘loop-closure’, that is the recognition of previously seen locations and the topological re-adjustment of the traveled path, is described, where loop-closure can be performed without the need to re-compute past trajectories or perform bundle adjustment.