Article-Journal

Fast Decentralized State Estimation for Legged Robot Locomotion via EKF and MHE
A decentralized framework for fast state estimation on legged robots.
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Fast Decentralized State Estimation for Legged Robot Locomotion via EKF and MHE
3D underactuated bipedal walking via h-lip based gait synthesis and stepping stabilization
Reduced Order Model based Control for Bipedal Walking
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3D underactuated bipedal walking via h-lip based gait synthesis and stepping stabilization
Risk-averse control via CVaR barrier functions: Application to bipedal robot locomotion
Pneumatic augmentation system for legged robots that stores and rapidly releases air pressure to enhance explosive hopping.
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Risk-averse control via CVaR barrier functions: Application to bipedal robot locomotion
Slip walking over rough terrain via h-lip stepping and backstepping-barrier function inspired quadratic program
We present an advanced and novel control method to enable actuated Spring Loaded Inverted Pendulum model to walk over rough and …
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Slip walking over rough terrain via h-lip stepping and backstepping-barrier function inspired quadratic program
Dynamic and versatile humanoid walking via embedding 3d actuated slip model with hybrid lip based stepping
In this letter, we propose an efficient approach to generate dynamic and versatile humanoid walking with non-constant center of mass …
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Temporal clustering of surgical activities in robot-assisted surgery
Purpose - Most evaluations of surgical workflow or surgeon skill use simple, descriptive statistics (e.g., time) across whole …
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