Paper-Conference

Simultaneous Ground Reaction Force and State Estimation via Constrained Moving Horizon Estimation
Simultaneous Ground Reaction Force and State Estimation framework for legged robots.
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Simultaneous Ground Reaction Force and State Estimation via Constrained Moving Horizon Estimation
iWalker: Imperative Visual Planning for Walking Humanoid Robot
Humanoid navigation through complex environment using visual planner and feedback control.
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iWalker: Imperative Visual Planning for Walking Humanoid Robot
Reference-Steering via Data-Driven Predictive Control for Hyper-Accurate Robotic Flying-Hopping Locomotion
Data-driven control for improving the closed-loop control performance on legged robots
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Reference-Steering via Data-Driven Predictive Control for Hyper-Accurate Robotic Flying-Hopping Locomotion
Data-Driven Predictive Control for Robust Exoskeleton Locomotion
Hankel-driven DDPC with IK/passivity yields robust, load-adaptive Atalante exoskeleton walking
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Data-Driven Predictive Control for Robust Exoskeleton Locomotion
Explosive Legged Robotic Hopping: Energy Accumulation and Power Amplification via Pneumatic Augmentation
Pneumatic augmentation system for legged robots that stores and rapidly releases air pressure to enhance explosive hopping.
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Explosive Legged Robotic Hopping: Energy Accumulation and Power Amplification via Pneumatic Augmentation
STRIDE: An Open-Source, Low-Cost, and Versatile Bipedal Robot Platform for Research and Education
An Open-sourced bipedal platform for education and research
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STRIDE: An Open-Source, Low-Cost, and Versatile Bipedal Robot Platform for Research and Education
Terrestrial Locomotion of PogoX: From Hardware Design to Energy Shaping and Step-to-step Dynamics Based Control
Novel controller and hardware design for a terrestrial locomotor - PogoX.
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Terrestrial Locomotion of PogoX: From Hardware Design to Energy Shaping and Step-to-step Dynamics Based Control
Data-Driven Predictive Control for Robust Exoskeleton Locomotion
Adaptive, data-driven step-to-step control learns foot placements online
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Data-Driven Predictive Control for Robust Exoskeleton Locomotion
From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps
Translates human downstep behaviors into bipedal robot control through reduced-order modeling and nonlinear optimization.
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From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps
Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control
An online walking synthesis methodology for momentum regulation.
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Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control