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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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04/28/2023
Input-to-State Stability in Probability
Input-to-State Stability (ISS) is fundamental in mathematically quantify...
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03/17/2023
An Input-to-State Stability Perspective on Robust Locomotion
Uneven terrain necessarily transforms periodic walking into a non-period...
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09/21/2022
Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization
The ability to generate robust walking gaits on bipedal robots is key to...
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08/08/2022
POLAR: Preference Optimization and Learning Algorithms for Robotics
Parameter tuning for robotic systems is a time-consuming and challenging...
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12/15/2021
Safety-Aware Preference-Based Learning for Safety-Critical Control
Bringing dynamic robots into the wild requires a tenuous balance between...
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09/10/2021
Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics
Generating provably stable walking gaits that yield natural locomotion w...
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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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11/10/2020
Preference-Based Learning for User-Guided HZD Gait Generation on Bipedal Walking Robots
This paper presents a framework that unifies control theory and machine ...
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11/09/2020
ROIAL: Region of Interest Active Learning for Characterizing Exoskeleton Gait Preference Landscapes
Characterizing what types of exoskeleton gaits are comfortable for users...
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03/13/2020
Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits
Understanding users' gait preferences of a lower-body exoskeleton requir...
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09/26/2019
Preference-Based Learning for Exoskeleton Gait Optimization
This paper presents a personalized gait optimization framework for lower...
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09/26/2019
Stabilization of Exoskeletons through Active Ankle Compensation
This paper presents an active stabilization method for a fully actuated ...
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09/24/2019