A Bio-inspired Integrated Framework for Disturbance Rejection Whole-Body Control of Humanoid Robots

Human–Robot Cooperative Heavy Payload Transportation Based on Whole-Body Model Predictive Control

Human-robot collaborative transportation is crucial for expanding robot abilities in smart manufacturing, requiring robots to recognize and follow human intentions while alleviating the human load and ensuring safety. To address this issue, a collaborative framework is proposed that integrates a collaborative controlle...

A Separation Force Position Hybrid Control for Quadruped Robots Based on Optimization Strategy

Reinforcement Learning-Based Interactive Control of an Omnidirectional Mobile Lower Limb Rehabilitation Robot

The findings indicate that integrating reinforcement learning with Sigmoid parameter adaptation provides a systematic and effective solution for adaptive compliance regulation in mobile exoskeleton systems, enhancing adaptability, safety, and functional relevance for stroke patients undergoing lower limb rehabilitation...

Anti-Gravity Walking by a Flying Humanoid Robot via Thrust-Rate Input Whole-Body Model Predictive Control

Flying humanoids are expected to perform tasks in diverse environments, while their existing locomotion is mainly limited to aerial flight and ground walking. The capability to move in complex three-dimensional space can greatly expand their application range. For such walking motion on ceilings and similar anti-gravit...

Gait-Generation-Based Path Following Control of Snake Robots for Motion Recovery With Joint Locking Failure

Snake robots operating in complex environments are susceptible to joint failures due to sustained high actuator loads, where large-angle joint locking severely distorts the gait shape and degrades motion performance. This paper presents an optimal path following control framework with gait generation for motion recover...

Disturbance-Aware Preview Control for Humanoid Robot Towing of Heavy Wheeled Loads with Traction Force Compensation

Most existing humanoid robots possess a payload capacity below 10 kg, which is insufficient for practical material transport tasks. A natural engineering solution is to enable humanoid robots to tow wheeled trailers or hand carts, transferring the vertical load to the wheeled carrier while the robot provides only horiz...