Канал: CLEAR Lab

Multiterrain robust locomotion

Multiterrain robust locomotion

SUSTech 3D Point-foot biped (outdoor experiment)

SUSTech 3D Point-foot biped (outdoor experiment)

SUSTech 3D Point-Foot Biped

SUSTech 3D Point-Foot Biped

Lec14-2 Robot Motion Control (Unified view, computed torque, Task space inverse dynamics (TSID))

Lec14-2 Robot Motion Control (Unified view, computed torque, Task space inverse dynamics (TSID))

Lec14-1 Robot Motion Control (intro to motion control, linear control design review)

Lec14-1 Robot Motion Control (intro to motion control, linear control design review)

lec12-2 Semi-definite Program (SDP stability analysis, robust stability, S-procedure)

lec12-2 Semi-definite Program (SDP stability analysis, robust stability, S-procedure)

lec12-1 Semi-definite Program (linear matrix inequalities (LMI), Schur complement, SDP)

lec12-1 Semi-definite Program (linear matrix inequalities (LMI), Schur complement, SDP)

Lec11-2 Basics of Optimization

Lec11-2 Basics of Optimization

Lec11-3 Basics of Optimization

Lec11-3 Basics of Optimization

lec11 -1 Bascis of Optimization

lec11 -1 Bascis of Optimization

Lec10-2: Basics of Stability Analysis(Linear System Lyapunov Stability , Converse Lyapunov Function)

Lec10-2: Basics of Stability Analysis(Linear System Lyapunov Stability , Converse Lyapunov Function)

Lec10-1： Basics of Stability Analysis（Nonlinear System Lyapunov Stability Definitions and Theorem）

Lec10-1： Basics of Stability Analysis（Nonlinear System Lyapunov Stability Definitions and Theorem）

lec9-2 Multibody Dynamics (Dynamic equation closed form, forward dynamics algorithm)

lec9-2 Multibody Dynamics (Dynamic equation closed form, forward dynamics algorithm)

lec9-1: Multibody Dynamics (Inverse Dynamics, Recursive Newton-Euler Algorithm Derivation)

lec9-1: Multibody Dynamics (Inverse Dynamics, Recursive Newton-Euler Algorithm Derivation)

lec8-2 Rigid Body Dynamics (Spatial force(Wrench), momentum, Inertia, Newton-Euler Eq. Derivation)

lec8-2 Rigid Body Dynamics (Spatial force(Wrench), momentum, Inertia, Newton-Euler Eq. Derivation)

lec8-1 Rigid Body Dynamics (Spatial Acceleration, Spatial cross product (Lie Bracket))

lec8-1 Rigid Body Dynamics (Spatial Acceleration, Spatial cross product (Lie Bracket))

Lec6-2: Drake Example: construct robot model/verify PoE based kinematics

Lec6-2: Drake Example: construct robot model/verify PoE based kinematics

Lec6-1 Product of Exponential and Kinematics of Open Chain

Lec6-1 Product of Exponential and Kinematics of Open Chain

Lec7: Screw theory based velocity kinematics (Geometric/Analytic Jacobian)

Lec7: Screw theory based velocity kinematics (Geometric/Analytic Jacobian)

Review/Summary of Rigid Body Velocity & Operation

Review/Summary of Rigid Body Velocity & Operation

Lec5: Instantaneous Velocity of Moving Frames

Lec5: Instantaneous Velocity of Moving Frames

Lec4: Exponential Coordinate of Rigid Body Configuration

Lec4: Exponential Coordinate of Rigid Body Configuration

Lec3-2：Operator view of SE(3) & screw axis transformation

Lec3-2：Operator view of SE(3) & screw axis transformation

Lec3-1:Operator View of Rotation Matrix and Matrix Exponential

Lec3-1:Operator View of Rotation Matrix and Matrix Exponential

Tutorial1: Rigid Body Velocity/Twist and Screw Axis

Tutorial1: Rigid Body Velocity/Twist and Screw Axis

Lec0： Course Introduction, why and how to learn screw theory based robotic kinematics and dynamics

Lec0： Course Introduction, why and how to learn screw theory based robotic kinematics and dynamics

Lec2-4 Twist example, Geometric Aspect of Twist: Screw Motion

Lec2-4 Twist example, Geometric Aspect of Twist: Screw Motion

Lec2-3 Rigid Body Spatial Velocity --- twist and adjoint operator of twist

Lec2-3 Rigid Body Spatial Velocity --- twist and adjoint operator of twist

Lec2-2 Rigid Body Configuration (Homogeneous coordinate/transformation matrix)

Lec2-2 Rigid Body Configuration (Homogeneous coordinate/transformation matrix)

Lec2-1 Rigid Body Configuration (coordinate-free concept, orientation, rotation matrix)

Lec2-1 Rigid Body Configuration (coordinate-free concept, orientation, rotation matrix)

Lec1-1 State Space model, existence/uniqueness of sln to ODE, Linear Control System Models

Lec1-1 State Space model, existence/uniqueness of sln to ODE, Linear Control System Models

Lec1-2 Matrix Exponential, Derivation of Solutions to Linear Control Systems

Lec1-2 Matrix Exponential, Derivation of Solutions to Linear Control Systems

Quadruped Robot Push Recovery Experiment based on Our New Capturability Theory and Explicit MPC

Quadruped Robot Push Recovery Experiment based on Our New Capturability Theory and Explicit MPC

Peg in Hole Based on Vision and Force Control

Peg in Hole Based on Vision and Force Control

[Kalman Filter Theory & Extended KF] Part12: EKF Examples (Tracking&Joint State/parameter estimation

[Kalman Filter Theory & Extended KF] Part12: EKF Examples (Tracking&Joint State/parameter estimation

[Kalman Filter Theory & Extended KF for Undergrads] Part11: Extended Kalman Filter Derivation

[Kalman Filter Theory & Extended KF for Undergrads] Part11: Extended Kalman Filter Derivation

[Kalman Filter Theory & Extended KF for Undergrads] Part10: Derivations and Python Example

[Kalman Filter Theory & Extended KF for Undergrads] Part10: Derivations and Python Example

[Kalman Filter Theory & Extended KF for Undergrads] Part9: Kalman Filter Derivations

[Kalman Filter Theory & Extended KF for Undergrads] Part9: Kalman Filter Derivations

[Kalman Filter Theory & Extended KF for Undergrads] Part8: Conditional Multivariate Gaussian& MMSE

[Kalman Filter Theory & Extended KF for Undergrads] Part8: Conditional Multivariate Gaussian& MMSE

[Kalman Filter Theory & Extended KF for Undergrads] Part7: Gaussian Random Vectors

[Kalman Filter Theory & Extended KF for Undergrads] Part7: Gaussian Random Vectors

[Kalman Filter Theory & Extended KF for Undergrads] Part6: Minimum Mean Square Estimate

[Kalman Filter Theory & Extended KF for Undergrads] Part6: Minimum Mean Square Estimate

[Kalman Filter Theory & Extended KF for Undergrads] Part5: Conditional Expectation/Covariance Matrix

[Kalman Filter Theory & Extended KF for Undergrads] Part5: Conditional Expectation/Covariance Matrix

[Kalman Filter Theory & EKF for Undergrads] Part4: Prob Review (Conditional Expectation)

[Kalman Filter Theory & EKF for Undergrads] Part4: Prob Review (Conditional Expectation)

[Kalman Filter Theory & Extended KF for Undergrads] Part3: Prob Review (Random Vector, Expectation)

[Kalman Filter Theory & Extended KF for Undergrads] Part3: Prob Review (Random Vector, Expectation)

[Kalman Filter Theory & Extended KF for Undergrads] Part2: KF Preview & Prob. Review (Prob. Space)

[Kalman Filter Theory & Extended KF for Undergrads] Part2: KF Preview & Prob. Review (Prob. Space)

[Kalman Filter Theory & Extended KF for Undergrads] Part1: Kalman Filter vs Luenberger Observer

[Kalman Filter Theory & Extended KF for Undergrads] Part1: Kalman Filter vs Luenberger Observer

Lec 8: Optimal Control Intro & Linear Quadratic Regulator | SUSTechME424 Modern Control& Estimation

Lec 8: Optimal Control Intro & Linear Quadratic Regulator | SUSTechME424 Modern Control& Estimation

Lec 7:Kalman Filter-Background and Full Derivation-PartII | SUSTechME424 Modern Control& Estimation

Lec 7:Kalman Filter-Background and Full Derivation-PartII | SUSTechME424 Modern Control& Estimation

Lec 7: Kalman Filter-Background and Full Derivation-Part I | SUSTechME424 Modern Control& Estimation

Lec 7: Kalman Filter-Background and Full Derivation-Part I | SUSTechME424 Modern Control& Estimation

Lec 5: State and Output Feedback Control (Full Derivation) | SUSTechME424 Modern Control& Estimation

Lec 5: State and Output Feedback Control (Full Derivation) | SUSTechME424 Modern Control& Estimation

Lec 6: Tutorial of Drake Simulation for Robotics and Control (ME424: Modern Control& Estimation)

Lec 6: Tutorial of Drake Simulation for Robotics and Control (ME424: Modern Control& Estimation)

Lec 3: Least Squares & Basic System Identification | SUSTech ME424 Modern Control and Estimation

Lec 3: Least Squares & Basic System Identification | SUSTech ME424 Modern Control and Estimation

Lec 4: Stability, Controllability & Observability of Linear Systems | SUSTechME424

Lec 4: Stability, Controllability & Observability of Linear Systems | SUSTechME424

Lec 2: State Space Model, Linearization, Discretization of Dynamical Systems | SUSTech ME424

Lec 2: State Space Model, Linearization, Discretization of Dynamical Systems | SUSTech ME424

Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Bipedal Robot

Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Bipedal Robot

Reachability-based Push Recovery for Humanoid Robots with Variable-Height Inverted Pendulum

Reachability-based Push Recovery for Humanoid Robots with Variable-Height Inverted Pendulum

Autonomous Social Distancing In Urban Environments Using A Quadruped Robot

Autonomous Social Distancing In Urban Environments Using A Quadruped Robot

Collision Avoidance of Quadruped In Outdoor Environment

Collision Avoidance of Quadruped In Outdoor Environment

Collision Avoidance of Quadruped

Collision Avoidance of Quadruped

Vision based autonomous stairs climbing for quadruped

Vision based autonomous stairs climbing for quadruped

Quadruped Push Recovery Tests

Quadruped Push Recovery Tests

Bipedal Locomotion using Reinforcement Learning

Bipedal Locomotion using Reinforcement Learning

Underactuated Motion Planning and Control for Jumping with Wheeled-Bipedal Robots

Underactuated Motion Planning and Control for Jumping with Wheeled-Bipedal Robots