This paper presents a framework for synthesizing bipedal robotic walking...
Humans are able to negotiate downstep behaviors – both planned and unpla...
We present a stepping stabilization control that addresses external push...
This paper presents an online walking gait synthesis and a feedback cont...
We present an advanced and novel control method to enable actuated Sprin...
In this paper, we present a Hybrid-Linear Inverted Pendulum (H-LIP) base...
Global position control for underactuated bipedal walking is a challengi...
Enforcing safety of robotic systems in the presence of stochastic uncert...
In this paper, we propose an efficient approach to generate dynamic and
...
In this paper, we present a sequential motion planning and control metho...
In this paper, 3D humanoid walking is decoupled into periodic and
transi...
A Hybrid passive Linear Inverted Pendulum (HLIP) model is proposed for
c...
Hybrid locomotion, which combines multiple modalities of locomotion with...
This paper presents the design and validation of controlling hopping on ...