research
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07/09/2021
Control Lyapunov Functions for Compliant Hybrid Zero Dynamic Walking
The ability to realize nonlinear controllers with formal guarantees on d...
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02/25/2021
Learning Controller Gains on Bipedal Walking Robots via User Preferences
Experimental demonstration of complex robotic behaviors relies heavily o...
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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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10/18/2020
Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking
We present a trajectory planning and control architecture for bipedal lo...
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10/15/2020
Dynamic Walking: Toward Agile and Efficient Bipedal Robots
Dynamic walking on bipedal robots has evolved from an idea in science fi...
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10/23/2019
An Inverse Dynamics Approach to Control Lyapunov Functions
With the goal of moving towards implementation of increasingly dynamic b...
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09/06/2019