research
∙
09/18/2022
Data-driven Step-to-step Dynamics based Adaptive Control for Robust and Versatile Underactuated Bipedal Robotic Walking
This paper presents a framework for synthesizing bipedal robotic walking...
share
research
∙
09/07/2022
From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps
Humans are able to negotiate downstep behaviors – both planned and unpla...
research
∙
01/26/2022
Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation
We present a stepping stabilization control that addresses external push...
research
∙
04/21/2021
Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control
This paper presents an online walking gait synthesis and a feedback cont...
research
∙
02/19/2021
SLIP Walking over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program
We present an advanced and novel control method to enable actuated Sprin...
research
∙
01/23/2021
3D Underactuated Bipedal Walking via H-LIP based Gait Synthesis and Stepping Stabilization
In this paper, we present a Hybrid-Linear Inverted Pendulum (H-LIP) base...
research
∙
11/11/2020
Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning
Global position control for underactuated bipedal walking is a challengi...
research
∙
11/03/2020
Risk-Sensitive Path Planning via CVaR Barrier Functions: Application to Bipedal Locomotion
Enforcing safety of robotic systems in the presence of stochastic uncert...
research
∙
08/06/2020
Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model with Hybrid LIP Based Stepping
In this paper, we propose an efficient approach to generate dynamic and ...
research
∙
08/06/2020
Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control
In this paper, we present a sequential motion planning and control metho...
research
∙
10/01/2019
Motion Decoupling and Composition via Reduced Order Model Optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control
In this paper, 3D humanoid walking is decoupled into periodic and transi...
research
∙
10/01/2019
Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model
A Hybrid passive Linear Inverted Pendulum (HLIP) model is proposed for c...
research
∙
09/23/2019
Optimal Motion Planning for Multi-Modal Hybrid Locomotion
Hybrid locomotion, which combines multiple modalities of locomotion with...
research
∙
07/20/2018
