Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait
Optimization

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Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization

IEEE International Conference on Robotics and Automation (ICRA), 2022

21 September 2022

Noel Csomay-Shanklin

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Papers citing "Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization"

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Title
NaviGait: Navigating Dynamically Feasible Gait Libraries using Deep Reinforcement Learning Neil C. Janwani Varun Madabushi Maegan Tucker 69 0 0 13 Oct 2025
Synthesizing Robust Walking Gaits via Discrete-Time Barrier Functions with Application to Multi-Contact Exoskeleton LocomotionIEEE International Conference on Robotics and Automation (ICRA), 2023 Maegan Tucker Kejun Li Aaron D. Ames 197 3 0 09 Oct 2023
Saltation Matrices: The Essential Tool for Linearizing Hybrid Dynamical SystemsProceedings of the IEEE (Proc. IEEE), 2023 Nathan J. Kong J. Joe Payne James Zhu Aaron M. Johnson 237 20 0 12 Jun 2023
An Input-to-State Stability Perspective on Robust LocomotionIEEE Control Systems Letters (L-CSS), 2023 Maegan Tucker Aaron D. Ames 147 4 0 17 Mar 2023