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12/12/2022
Verifiably Safe Reinforcement Learning with Probabilistic Guarantees via Temporal Logic
Reinforcement Learning (RL) can solve complex tasks but does not intrins...
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09/15/2022
Robust Locomotion on Legged Robots through Planning on Motion Primitive Graphs
The functional demands of robotic systems often require completing vario...
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09/07/2022
From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps
Humans are able to negotiate downstep behaviors – both planned and unpla...
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01/26/2022
Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation
We present a stepping stabilization control that addresses external push...
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04/21/2021
Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control
This paper presents an online walking gait synthesis and a feedback cont...
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02/19/2021
SLIP Walking over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program
We present an advanced and novel control method to enable actuated Sprin...
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01/23/2021
3D Underactuated Bipedal Walking via H-LIP based Gait Synthesis and Stepping Stabilization
In this paper, we present a Hybrid-Linear Inverted Pendulum (H-LIP) base...
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11/11/2020
Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning
Global position control for underactuated bipedal walking is a challengi...
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10/19/2020
Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance
Artificial potential fields (APFs) and their variants have been a staple...
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08/06/2020
Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model with Hybrid LIP Based Stepping
In this paper, we propose an efficient approach to generate dynamic and ...
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08/06/2020
Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control
In this paper, we present a sequential motion planning and control metho...
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03/03/2020
ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions
Sample-based learning model predictive control (LMPC) strategies have re...
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12/20/2019
Learning for Safety-Critical Control with Control Barrier Functions
Modern nonlinear control theory seeks to endow systems with properties o...
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10/01/2019
Motion Decoupling and Composition via Reduced Order Model Optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control
In this paper, 3D humanoid walking is decoupled into periodic and transi...
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10/01/2019
Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model
A Hybrid passive Linear Inverted Pendulum (HLIP) model is proposed for c...
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07/20/2018