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08/21/2023
Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics
Selecting robot design parameters can be challenging since these paramet...
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05/06/2023
Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots
The safety-critical control of robotic systems often must account for mu...
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03/23/2023
Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier Functions
This paper presents a safety-critical approach to the coordinated contro...
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11/13/2022
Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion
The aim of this work is to define a planner that enables robust legged l...
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11/13/2022
Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches
This paper presents a layered control approach for real-time trajectory ...
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04/15/2020