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10/24/2022
Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robot Walking on a Swaying Rigid Surface
Controller design for bipedal walking on dynamic rigid surfaces (DRSes),...
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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 ...
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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...
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03/26/2021
Toward Safety-Aware Informative Motion Planning for Legged Robots
This paper reports on developing an integrated framework for safety-awar...
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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...
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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...
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07/17/2018