arXiv subjects

Sangbae Kim

Publications and source records attributed to Sangbae Kim.

43 records · Page 3Linked to original sources

arXiv2021

Online Trajectory Optimization for Dynamic Aerial Motions of a Quadruped Robot

This work presents a two part framework for online planning and execution of dynamic aerial motions on a quadruped robot. Motions are planned via a centroidal momentum-based nonlinear optimization that is general enough to produce rich sets of novel dynamic motions based solely on the user-specified contact schedule and desired launch velocity of the robot. Since this nonlinear optimization is not tractable for real-time receding horizon control, motions are planned once via nonlinear optimization in preparation of an aerial motion and then tracked continuously using a variational-based optimal controller that offers robustness to the uncertainties that exist in the real hardware such as modeling error or disturbances. Motion planning typically takes between 0.05-0.15 seconds, while the optimal controller finds stabilizing feedback inputs at 500 Hz. Experimental results on the MIT Mini Cheetah demonstrate that the framework can reliably produce successful aerial motions such as jumps onto and off of platforms, spins, flips, barrel rolls, and running jumps over obstacles.

cs.RO↗

arXiv2021

Real-time Optimal Landing Control of the MIT Mini Cheetah

Quadrupedal landing is a complex process involving large impacts, elaborate contact transitions, and is a crucial recovery behavior observed in many biological animals. This work presents a real-time, optimal landing controller that is free of pre-specified contact schedules. The controller determines optimal touchdown postures and reaction force profiles and is able to recover from a variety of falling configurations. The quadrupedal platform used, the MIT Mini Cheetah, recovered safely from drops of up to 8 m in simulation, as well as from a range of orientations and planar velocities. The controller is also tested on hardware, successfully recovering from drops of up to 2 m.

cs.RO↗

arXiv2021

Observations of near-perfect nonclassical correlation using coherent light

Complementarity theory is the essence of the Copenhagen interpretation. Since the Hanbury Brown and Twiss experiments, the particle nature of photons has been intensively studied for various quantum phenomena such as anticorrelation and Bell inequality violation in terms of two-photon correlation. Regarding the fundamental question on these quantum features, however, no clear answer exists for how to generate such an entanglement photon pair and what causes the maximum correlation between them. Here, we experimentally demonstrate the physics of anticorrelation on a beam splitter using sub-Poisson distributed coherent photons, where a particular photon number is post-selected using a multiphoton resolving coincidence measurement technique. According to Born rule regarding self-interference in an interferometric scheme, a photon does not interact with others, but can interfere by itself. This is the heart of anticorrelation, where a particular phase relation between paired photons is unveiled for anticorrelation, satisfying the complementarity theory of quantum mechanics.

quant-ph↗

arXiv2021

The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic Behaviors

Demonstrating acrobatic behavior of a humanoid robot such as flips and spinning jumps requires systematic approaches across hardware design, motion planning, and control. In this paper, we present a new humanoid robot design, an actuator-aware kino-dynamic motion planner, and a landing controller as part of a practical system design for highly dynamic motion control of the humanoid robot. To achieve the impulsive motions, we develop two new proprioceptive actuators and experimentally evaluate their performance using our custom-designed dynamometer. The actuator's torque, velocity, and power limits are reflected in our kino-dynamic motion planner by approximating the configuration-dependent reaction force limits and in our dynamics simulator by including actuator dynamics along with the robot's full-body dynamics. For the landing control, we effectively integrate model-predictive control and whole-body impulse control by connecting them in a dynamically consistent way to accomplish both the long-time horizon optimal control and high-bandwidth full-body dynamics-based feedback. Actuators' torque output over the entire motion are validated based on the velocity-torque model including battery voltage droop and back-EMF voltage. With the carefully designed hardware and control framework, we successfully demonstrate dynamic behaviors such as back flips, front flips, and spinning jumps in our realistic dynamics simulation.

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arXiv2020

Observations of on-demand quantum correlation using Poisson-distributed photon pairs

Complementarity or wave-particle duality has been the basis of quantum mechanics over the last century. Since the Hanbury Brown and Twiss experiments in 1956, the particle nature of single photons has been intensively studied for various quantum phenomena such as anticorrelation and Bell inequality violation. Regarding the fundamental question on quantumness or nonclassicality, however, no clear answer exists for what quantum entanglement should be and how to generate it. Here, we experimentally demonstrate the secrete of quantumness using the wave nature of single photons.

quant-ph↗

arXiv2019

Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control

Dynamic legged locomotion is a challenging topic because of the lack of established control schemes which can handle aerial phases, short stance times, and high-speed leg swings. In this paper, we propose a controller combining whole-body control (WBC) and model predictive control (MPC). In our framework, MPC finds an optimal reaction force profile over a longer time horizon with a simple model, and WBC computes joint torque, position, and velocity commands based on the reaction forces computed from MPC. Unlike existing WBCs, which attempt to track commanded body trajectories, our controller is focused more on the reaction force command, which allows it to accomplish high speed dynamic locomotion with aerial phases. The newly devised WBC is integrated with MPC and tested on the Mini-Cheetah quadruped robot. To demonstrate the robustness and versatility, the controller is tested on six different gaits in a number of different environments, including outdoors and on a treadmill, reaching a top speed of 3.7 m/s.

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arXiv2017

Linear Matrix Inequalities for Physically-Consistent Inertial Parameter Identification: A Statistical Perspective on the Mass Distribution

With the increased application of model-based whole-body control in legged robots, there has been a resurgence of research interest into methods for accurate system identification. An important class of methods focuses on the inertial parameters of rigid-body systems. These parameters consist of the mass, first mass moment (related to center of mass location), and rotational inertia matrix of each link. The main contribution of this paper is to formulate physical-consistency constraints on these parameters as Linear Matrix Inequalities (LMIs). The use of these constraints in identification can accelerate convergence and increase robustness to noisy data. It is critically observed that the proposed LMIs are expressed in terms of the covariance of the mass distribution, rather than its rotational moments of inertia. With this perspective, connections to the classical problem of moments in mathematics are shown to yield new bounding-volume constraints on the mass distribution of each link. While previous work ensured physical plausibility or used convex optimization in identification, the LMIs here uniquely enable both advantages. Constraints are applied to identification of a leg for the MIT Cheetah 3 robot. Detailed properties of transmission components are identified alongside link inertias, with parameter optimization carried out to global optimality through semidefinite programming.

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