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1807.08037
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Bipedal Hopping: Reduced-order Model Embedding via Optimization-based Control
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2018
20 July 2018
Xiaobin Xiong
Aaron D. Ames
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Papers citing
"Bipedal Hopping: Reduced-order Model Embedding via Optimization-based Control"
32 / 32 papers shown
A Survey: Learning Embodied Intelligence from Physical Simulators and World Models
Xiaoxiao Long
Qingrui Zhao
Kaiwen Zhang
Zihao Zhang
Dingrui Wang
...
Jia Pan
Qiu Shen
Ruigang Yang
X. Cao
Qionghai Dai
LM&Ro
AI4CE
374
33
0
01 Jul 2025
Versatile, Robust, and Explosive Locomotion with Rigid and Articulated Compliant Quadrupeds
Jiatao Ding
Peiyu Yang
Fabio Boekel
Jens Kober
Wei Pan
Matteo Saveriano
Cosimo Della Santina
350
3
0
17 Apr 2025
A 3-Step Optimization Framework with Hybrid Models for a Humanoid Robot's Jump Motion
IEEE Transactions on Automation Science and Engineering (T-ASE), 2025
Haoxiang Qi
Zhangguo Yu
Xuechao Chen
Yaliang Liu
Chuanku Yi
Chencheng Dong
Fei Meng
Qiang Huang
313
2
0
22 Jan 2025
Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control
Zhongyu Li
Xue Bin Peng
Pieter Abbeel
Sergey Levine
Glen Berseth
Koushil Sreenath
357
189
0
30 Jan 2024
Dynamic Loco-manipulation on HECTOR: Humanoid for Enhanced ConTrol and Open-source Research
Junheng Li
Junchao Ma
Omar Kolt
Manas Shah
Quan Nguyen
312
27
0
19 Dec 2023
Explosive Legged Robotic Hopping: Energy Accumulation and Power Amplification via Pneumatic Augmentation
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023
Yifei Chen
Arturo Gamboa-Gonzalez
Michael Wehner
Xiaobin Xiong
132
1
0
10 Dec 2023
Terrestrial Locomotion of PogoX: From Hardware Design to Energy Shaping and Step-to-step Dynamics Based Control
IEEE International Conference on Robotics and Automation (ICRA), 2023
Yi Wang
Ji-Min Kang
Zhiheng Chen
Xiaobin Xiong
206
16
0
24 Sep 2023
Reactive Landing Controller for Quadruped Robots
IEEE Robotics and Automation Letters (RA-L), 2023
Francesco Roscia
Michele Focchi
Andrea Del Prete
D. Caldwell
Claudio Semini
294
17
0
12 May 2023
Impact-Invariant Control: Maximizing Control Authority During Impacts
William Yang
Michael Posa
325
7
0
01 Mar 2023
Evaluation of Legged Robot Landing Capability Under Aggressive Linear and Angular Velocities
IEEE International Conference on Robotics and Automation (ICRA), 2023
Keran Ye
Konstantinos Karydis
267
3
0
24 Feb 2023
Robust and Versatile Bipedal Jumping Control through Reinforcement Learning
Zhongyu Li
Xue Bin Peng
Pieter Abbeel
Sergey Levine
Glen Berseth
Koushil Sreenath
261
73
0
19 Feb 2023
Real-time Trajectory Optimization and Control for Ball Bumping with Quadruped Robots
Qiayuan Liao
Zhefeng Cao
Hua Chen
Wei Zhang
170
0
0
11 Oct 2022
From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022
J. Verhagen
Xiaobin Xiong
Aaron D. Ames
A. Seth
164
6
0
07 Sep 2022
Online Trajectory Optimization for Dynamic Aerial Motions of a Quadruped Robot
IEEE International Conference on Robotics and Automation (ICRA), 2021
Matthew Chignoli
Sangbae Kim
399
33
0
12 Oct 2021
Fast Online Optimization for Terrain-Blind Bipedal Robot Walking with a Decoupled Actuated SLIP Model
Ke Wang
He Fei
Petar Kormushev
130
8
0
20 Sep 2021
Whole-Body Control with Motion/Force Transmissibility for Parallel-Legged Robot
Jiajun Wang
Gang Han
Xiaozhu Ju
Mingguo Zhao
178
2
0
15 Sep 2021
Autonomous Navigation of Underactuated Bipedal Robots in Height-Constrained Environments
Zhongyu Li
Jun Zeng
Shuxiao Chen
Koushil Sreenath
382
35
0
13 Sep 2021
Design of a Flying Humanoid Robot Based on Thrust Vector Control
IEEE Robotics and Automation Letters (RA-L), 2021
Yuhang Li
Yuhao Zhou
Junbin Huang
Zijun Wang
Shunjie Zhu
...
Li Zheng
Jiajin Luo
Rui Cao
Yun Zhang
Zhifeng Huang
131
10
0
26 Aug 2021
Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control
IEEE International Conference on Robotics and Automation (ICRA), 2021
Min Dai
Xiaobin Xiong
Aaron D. Ames
210
21
0
21 Apr 2021
Impact Invariant Control with Applications to Bipedal Locomotion
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2021
William Yang
Michael Posa
186
30
0
11 Mar 2021
SLIP Walking over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program
IEEE Robotics and Automation Letters (RA-L), 2021
Xiaobin Xiong
Aaron D. Ames
140
27
0
19 Feb 2021
3D Underactuated Bipedal Walking via H-LIP based Gait Synthesis and Stepping Stabilization
IEEE Transactions on robotics (TRO), 2021
Xiaobin Xiong
Aaron D. Ames
401
100
0
23 Jan 2021
Underactuated Motion Planning and Control for Jumping with Wheeled-Bipedal Robots
IEEE Robotics and Automation Letters (RA-L), 2020
Hua Chen
Bingheng Wang
Zejun Hong
Cong Shen
Patrick M. Wensing
Wei Zhang
221
84
0
11 Dec 2020
Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning
IEEE International Conference on Robotics and Automation (ICRA), 2020
Xiaobin Xiong
Jenna Reher
Aaron D. Ames
302
32
0
11 Nov 2020
Risk-Averse Planning via CVaR Barrier Functions: Application to Bipedal Robot Locomotion
M. Ahmadi
Xiaobin Xiong
Aaron D. Ames
262
10
0
03 Nov 2020
Learning When to Switch: Composing Controllers to Traverse a Sequence of Terrain Artifacts
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2020
Brendan Tidd
N. Hudson
Akansel Cosgun
Jurgen Leitner
225
5
0
01 Nov 2020
Dynamic Walking: Toward Agile and Efficient Bipedal Robots
Jenna Reher
Aaron D. Ames
259
80
0
15 Oct 2020
Guided Curriculum Learning for Walking Over Complex Terrain
Brendan Tidd
N. Hudson
Akansel Cosgun
219
17
0
08 Oct 2020
Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control
Xiaobin Xiong
Aaron D. Ames
208
15
0
06 Aug 2020
Motion Decoupling and Composition via Reduced Order Model Optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2019
Xiaobin Xiong
Aaron D. Ames
90
10
0
01 Oct 2019
Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2019
Xiaobin Xiong
Aaron D. Ames
125
32
0
01 Oct 2019
Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway
Yukai Gong
R. Hartley
Xingye Da
Ayonga Hereid
Omar Harib
Jiunn-Kai Huang
J. Grizzle
173
215
0
19 Sep 2018
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