Safe and Adaptive 3-D Locomotion via Constrained Task-Space Imitation Learning

Bipedal locomotion has been widely studied in recent years, where passive safety (i.e., a biped rapidly brakes without falling) is deemed to be a pivotal problem. To realize safe 3-D walking, existing works resort to nonlinear optimization techniques based on simplified dynamics models, requiring hand-tuned reference trajectories. In this...

Robust Locomotion Exploiting Multiple Balance Strategies: An Observer-Based Cascaded Model Predictive Control Approach

Robust locomotion is a challenging task for humanoid robots, especially when considering dynamic disturbances. This article proposes a disturbance observer-based cascaded model predictive control (MPC) approach for bipedal locomotion, with the capability of exploiting ankle, stepping, hip and height variation strategies. Specifically, based...

A time series forecasting based on cloud model similarity measurement

In this paper, a local cloud model similarity measurement (CMSM) is proposed as a novel method to measure the similarity of time series. Time series similarity measurement is an indispensable part for improving the efficiency and accuracy of prediction. The randomness and uncertainty of series data are critical problems in the processing of...