Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning

11 November 2020

Papers citing "Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning"

13 / 13 papers shown

Title
iWalker: Imperative Visual Planning for Walking Humanoid Robot Xiao Lin Yuhao Huang Taimeng Fu Xiaobin Xiong Chen Wang 46 0 0 27 Sep 2024
Beyond Inverted Pendulums: Task-optimal Simple Models of Legged Locomotion Yu-Ming Chen Jian-bo Hu Michael Posa 46 6 0 05 Jan 2023
Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robot Walking on a Swaying Rigid Surface Yuan Gao Yukai Gong Victor Paredes Ayonga Hereid Yan Gu 31 13 0 24 Oct 2022
Data-driven Adaptation for Robust Bipedal Locomotion with Step-to-Step Dynamics Min Dai Xiaobin Xiong Jaemin Lee Aaron D. Ames 53 9 0 18 Sep 2022
From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps J. Verhagen Xiaobin Xiong Aaron D. Ames A. Seth 40 5 0 07 Sep 2022
A Sequential MPC Approach to Reactive Planning for Bipedal Robots K. S. Narkhede Abhijeet Mangesh Kulkarni Dhruv A. Thanki I. Poulakakis 48 25 0 30 Apr 2022
Tello Leg: The Study of Design Principles and Metrics for Dynamic Humanoid Robots Youngwoo Sim Joao Ramos 37 29 0 01 Mar 2022
DRS-LIP: Linear Inverted Pendulum Model for Legged Locomotion on Dynamic Rigid Surfaces A. Iqbal Sushant Veer Yan Gu 37 6 0 31 Jan 2022
Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller via Model Predictive Control and Virtual Constraints Grant Gibson Oluwami Dosunmu-Ogunbi Yukai Gong J. Grizzle 46 36 0 30 Sep 2021
Interactive Dynamic Walking: Learning Gait Switching Policies with Generalization Guarantees P. Chand Sushant Veer I. Poulakakis 30 3 0 28 Sep 2021
Autonomous Navigation of Underactuated Bipedal Robots in Height-Constrained Environments Zhongyu Li Jun Zeng Shuxiao Chen Koushil Sreenath 36 26 0 13 Sep 2021
Zero Dynamics, Pendulum Models, and Angular Momentum in Feedback Control of Bipedal Locomotion Yukai Gong J. Grizzle 45 42 0 17 May 2021
Risk-Averse Planning via CVaR Barrier Functions: Application to Bipedal Robot Locomotion M. Ahmadi Xiaobin Xiong Aaron D. Ames 29 10 0 03 Nov 2020