For achieving kinematically suitable configurations and highly dynamic task execution, an efficient way is to consider robot performance indices in the whole-body control (WBC) of robots. However, current WBC methods have not considered the intrinsic features of parallel robots, especially motion/force transmissibility (MFT). This paper proposes an MFT-enhanced WBC scheme for parallel-legged robots. Introducing the performance indices of MFT into a WBC is challenging due to the nonlinear relationship between MFT indices and the robot configuration. To overcome this challenge, we establish the MFT preferable space of the robot offline and formulate it as a polyhedron in the joint space at the acceleration level. Then, the WBC employs the polyhedron as a soft constraint. As a result, the robot possesses high-speed and high-acceleration capabilities by satisfying this constraint. The offline preprocessing relieves the online computation burden and helps the WBC achieve a 1kHz servo rate. Finally, we validate the performance and robustness of the proposed method via simulations and experiments on a parallel-legged bipedal robot.
Whole-Body Model-Predictive Control of Legged Robots with MuJoCo
Department Aeronautics and Astronautics, Massachusetts Institute of Technology（航空宇航与工程力学系，麻省理工学院）；Google DeepMind（谷歌DeepMind）；Department of Electrical and Computer Engineering, Carnegie Mellon University（电气与计算机工程系，卡内基梅隆大学）；Robotics Institute, Carnegie Mellon University（机器人研究所，卡内基梅隆大学）
GPO: Growing Policy Optimization for Legged Robot Locomotion and Whole-Body Control
Beihang University, China（北京航空航天大学）；Department of Mechanical Engineering, National University of Singapore, Singapore（新加坡国立大学机械工程系）；Henan Univeristy, China（河南大学）
RoboDuet: Learning a Cooperative Policy for Whole-body Legged Loco-Manipulation
Tsinghua University（清华大学）；University of San Diego（圣地亚哥大学）；Shanghai Artificial Intelligence Laboratory（上海人工智能实验室）；Institute for Interdisciplinary Information Sciences, Tsinghua University（清华大学交叉信息研究院）；Shanghai Qi Zhi Institute（上海期智研究院）；Tsinghua Shenzhen International Graduate School（清华大学深圳国际研究生院）；Jianghuai Advance Technology Center（江淮先进技术中心）
Whole-Body Inverse Dynamics MPC for Legged Loco-Manipulation
Department of Mechanical and Process Engineering, ETH Zurich（机械与过程工程系，苏黎世联邦理工学院）；Computational Robotics Lab, Department of Computer Science, ETH Zurich（计算机器人实验室，计算机科学系，苏黎世联邦理工学院）
Task-Space Riccati Feedback based Whole Body Control for Underactuated Legged Locomotion
School of System Design and Intelligent Manufacturing, Southern University of Science and Technology（南方科技大学系统设计与智能制造学院）；Department of Civil and Environmental Engineering, The Hong Kong University of Science and Technology（香港科技大学土木与环境工程系）；Department of Aerospace and Mechanical Engineering, University of Notre Dame（圣母大学航空航天与机械工程系）
Multi-contact Stochastic Predictive Control for Legged Robots with Contact Locations Uncertainty
Max Planck Institute for Intelligent Systems（马克斯·普朗克智能系统研究所）；Tandon School of Engineering, New York University（纽约大学坦登工程学院）；Munich Institute of Robotics and Machine Intelligence, Technical University of Munich（慕尼黑工业大学慕尼黑机器人与机器智能研究所）；University of Trento（特伦托大学）
Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots
Max Planck Institute for Intelligent Systems（马克斯·普朗克智能系统研究所）；LAAS-CNRS（LAAS-法国国家科学研究中心）；Université de Toulouse（图卢兹大学）；CNRS（法国国家科学研究中心）；University of Trento（特伦托大学）；Tandon School of Engineering, New York University（纽约大学坦登工程学院）
A Comparative Study of Floating-Base Space Parameterizations for Agile Whole-Body Motion Planning
Laboratory of Automation and Robotics (LAR) in the Department of Electrical & Computer Engineering, University of Patras（帕尔蒂亚大学电气与计算机工程系自动化与机器人实验室）；Archimedes/Athena RC（阿基米德/雅典娜研究中心）；Athena - Research and Innovation Center in Information, Communication and Knowledge Technologies（雅典娜信息、通信和知识技术研究与创新中心）
KYON: Semi-Modular Wheel-Legged Quadruped With Agile Bimanual Capability
Humanoids and Human Centered Mechatronics, Fondazione Istituto Italiano di Tecnologia（人机一体化机械系统，意大利理工研究院）；Advanced Robotics Facility, Fondazione Istituto Italiano di Tecnologia（先进机器人设施，意大利理工研究院）
X2-N: A Transformable Wheel-legged Humanoid Robot with Dual-mode Locomotion and Manipulation
Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology（香港理工大学电子与计算机工程系）；X-lab Department, Agibot Innovation Company（阿吉博创新公司X实验室）
Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization
School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA 30332 USA（电气与计算机工程系，佐治亚理工学院，亚特兰大，GA 30332 USA）；Twentieth Century Fox, Springfield, USA（二十世纪福克斯，斯普林菲尔德，USA）；Starfleet Academy, San Francisco, CA 96678 USA（星际舰队学院，旧金山，CA 96678 USA）；Tyrell Inc., 123 Replicant Street, Los Angeles, CA 90210 USA（泰勒尔公司，123 复制人街，洛杉矶，CA 90210 USA）
Reactive Task and Motion Planning for Robust Whole-Body Dynamic Locomotion in Constrained Environments
George W. Woodruff School of Mechanical Engineering, Georgia Tech, USA（佐治亚理工学院机械工程学院）；Department of Applied Mathematics, University of Waterloo, Canada（滑铁卢大学应用数学系）；Department of Aerospace Engineering and Engineering Mechanics, UT Austin, USA（得克萨斯大学奥斯汀分校航空航天工程与工程力学系）；Institute for Computational Engineering and Sciences, UT Austin, USA（得克萨斯大学奥斯汀分校计算工程与科学研究所）
Whole Body Model Predictive Control for Spin-Aware Quadrupedal Table Tennis
Department of Mechanical Engineering, Massachusetts Institute of Technology（麻省理工学院机械工程系）；Department of Mechanical Engineering, Georgia Institute of Technology（佐治亚理工学院机械工程系）；RAI Institute（RAI研究所）
BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning
Tandon School of Engineering, New York University（纽约大学坦登工程学院）；Max-Planck Institute for Intelligent Systems（马克斯·普朗克智能系统研究所）；Oxford Robotics Institute, University of Oxford（牛津大学牛津机器人研究所）
Primal-Dual iLQR for GPU-Accelerated Learning and Control in Legged Robots
Dynamic Legged Systems Laboratory, Istituto Italiano di Tecnologia (IIT), Genova, Italy（动态腿系统实验室，意大利技术研究院（IIT），意大利热那亚）；Dipartimento di Informatica, Bioingegneria, Robotica e Ingegneria dei Sistemi (DIBRIS), Università di Genova, Genova, Italy（信息学院、生物工程、机器人与系统工程系（DIBRIS），热那亚大学，意大利热那亚）；Polytechnique Montréal, Montreal, Canada（蒙特利尔理工学院，加拿大蒙特利尔）
Integrable Whole-body Orientation Coordinates for Legged Robots
University of Pennsylvania（宾夕法尼亚大学）；Boardwalk Robotics（博德沃克机器人公司）；Boston Dynamics Artificial Intelligence Institute（波士顿动力人工智能研究所）；Florida Institute for Human and Machine Cognition（佛罗里达人机认知研究所）
