research
∙
08/14/2023
The Michigan Robotics Undergraduate Curriculum: Defining the Discipline of Robotics for Equity and Excellence
The Robotics Major at the University of Michigan was successfully launch...
share
research
∙
03/27/2023
Optimizing Lead Time in Fall Detection for a Planar Bipedal Robot
For legged robots to operate in complex terrains, they must be robust to...
research
∙
09/30/2021
Terrain-Aware Foot Placement for Bipedal Locomotion Combining Model Predictive Control, Virtual Constraints, and the ALIP
This paper draws upon three themes in the bipedal control literature to ...
research
∙
05/17/2021
Zero Dynamics, Pendulum Models, and Angular Momentum in Feedback Control of Bipedal Locomotion
Low-dimensional models are ubiquitous in the bipedal robotics literature...
research
∙
08/25/2020
Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-based Controller
In the control of bipedal locomotion, linear velocity of the center of m...
research
∙
09/19/2018
Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway
The Cassie bipedal robot designed by Agility Robotics is providing acade...
research
∙
02/22/2018