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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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09/18/2019
From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation
This paper systematically decomposes quadrupeds into bipeds to rapidly g...
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09/17/2019
First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach
The hybrid zero dynamics (HZD) approach has become a powerful tool for t...
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04/25/2019
Dynamic Walking with Compliance on a Cassie Bipedal Robot
The control of bipedal robotic walking remains a challenging problem in ...
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12/11/2018