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

Hierarchical control framework for obstacle crossing of hybrid leg-wheel vehicles

Simulation results demonstrate that the proposed framework achieves good obstacle crossing and superior directional stability, thereby establishing its effectiveness in simulation and potential for heavy-duty platforms in unstructured environments.

Sensorless variable impedance control of robot joints with 3K gear reducers based on hybrid dynamics model and meta-policy optimization

The proposed physics-informed data-driven joint dynamics modeling method achieves a 40% improvement in joint torque prediction accuracy compared to the conventional momentum disturbance observer (MDOB) baseline, satisfying the dual requirements of high-precision tracking in free space and high compliance in contact spa...

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...

Design and Redundancy Control Approach of a Novel Three-Platform Parallel-Coupled Mobile Robot

Based on the advantages of redundancy, high stiffness, and strong load-bearing capacity of parallel mechanisms, they can be applied in the field of mobile robots. This paper proposes a novel three-platform parallel-coupled mobile robot and conducts motion analysis and dynamic modeling for it. It proposes an active inte...

Adaptive Whole-Body MPC with Optimal Posture Planning for Humanoid Robots under Unknown Payloads

Humanoid robots performing lifting and material-handling tasks must maintain balance despite unknown and varying payloads. However, payload uncertainty significantly affects whole-body dynamics and may destabilize conventional controllers. We propose an adaptive whole-body control architecture that integrates three com...

Motion control algorithm for high-load robots based on spatial vector Newton–Euler iterative algorithm