Reachability Aware Capture Regions with Time Adjustment and Cross-Over
for Step Recovery

Reachability Aware Capture Regions with Time Adjustment and Cross-Over for Step Recovery

22 July 2023

Robert Griffin

Brandon Shrewsbury

Sylvain Bertrand

Papers citing "Reachability Aware Capture Regions with Time Adjustment and Cross-Over for Step Recovery"

7 / 7 papers shown

Title
Enhancing Model-Based Step Adaptation for Push Recovery through Reinforcement Learning of Step Timing and Region Tobias Egle Yashuai Yan Dongheui Lee Christian Ott 60 0 0 01 Nov 2024
Robust-Locomotion-by-Logic: Perturbation-Resilient Bipedal Locomotion via Signal Temporal Logic Guided Model Predictive Control Zhaoyuan Gu Yuntian Zhao Yipu Chen Rongming Guo Jennifer K. Leestma Gregory S Sawicki Ye Zhao 31 9 0 24 Mar 2024
Efficient, Dynamic Locomotion through Step Placement with Straight Legs and Rolling Contacts Stefan Fasano James Foster Sylvain Bertrand Christian DeBuys Robert Griffin 27 1 0 19 Oct 2023
Signal Temporal Logic-Guided Model Predictive Control for Robust Bipedal Locomotion Resilient to Runtime External Perturbations Zhaoyuan Gu Rongming Guo William Yates Yipu Chen Ye Zhao 24 0 0 17 Oct 2023
Walking-by-Logic: Signal Temporal Logic-Guided Model Predictive Control for Bipedal Locomotion Resilient to External Perturbations Zhaoyuan Gu Rong Guo William Yates Yipu Chen Ye Zhao 19 13 0 22 Sep 2023
Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions Charles Khazoom Daniel Gonzalez Diaz Yanran Ding Sangbae Kim 40 31 0 01 Jul 2022
Fast Contact-Implicit Model-Predictive Control Simon Le Cleac'h Taylor A. Howell Shuo Yang Chia-Yen Lee John Z. Zhang Arun L. Bishop Mac Schwager Zachary Manchester 81 79 0 12 Jul 2021