Zero Dynamics, Pendulum Models, and Angular Momentum in Feedback Control
of Bipedal Locomotion

Zero Dynamics, Pendulum Models, and Angular Momentum in Feedback Control of Bipedal Locomotion

17 May 2021

Yukai Gong

Papers citing "Zero Dynamics, Pendulum Models, and Angular Momentum in Feedback Control of Bipedal Locomotion"

9 / 9 papers shown

Title
Impact-Invariant Control: Maximizing Control Authority During Impacts William Yang Michael Posa 34 4 0 01 Mar 2023
Beyond Inverted Pendulums: Task-optimal Simple Models of Legged Locomotion Yu-Ming Chen Jian-bo Hu Michael Posa 41 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 26 13 0 24 Oct 2022
Resolved Motion Control for 3D Underactuated Bipedal Walking using Linear Inverted Pendulum Dynamics and Neural Adaptation Victor Paredes Ayonga Hereid 32 20 0 02 Aug 2022
Informable Multi-Objective and Multi-Directional RRT* System for Robot Path Planning Jiunn-Kai Huang Yingjie Tan Dongmyeong Lee Vishnu R. Desaraju J. Grizzle 46 10 0 30 May 2022
A Sequential MPC Approach to Reactive Planning for Bipedal Robots K. S. Narkhede Abhijeet Mangesh Kulkarni Dhruv A. Thanki I. Poulakakis 27 25 0 30 Apr 2022
Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments James Hegarty Zhaoyuan Gu J. Warnke Seth Hutchinson Armin Alaghi 32 32 0 23 Oct 2021
Legged Robot State Estimation using Invariant Kalman Filtering and Learned Contact Events Tzu-Yuan Lin Ray Zhang Justin Yu Maani Ghaffari 37 35 0 29 Jun 2021
Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control Min Dai Xiaobin Xiong Aaron D. Ames 34 18 0 21 Apr 2021