Paper-Conference

Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning
Hybrid-Linear Inverted Pendulum (H-LIP) based stepping approach with Model Predictive Control (MPC) to achieve global position control and turning for underactuated 3D bipedal robots, validated on Cassie in simulation and experiment.
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Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning
Smooth Approximations for Hybrid Optimal Control Problems with Application to Robotic Walking
A novel approach to solving optimal control problems for hybrid dynamical systems with event-triggered discrete jumps
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Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion
Motion planning of hybrid locomoting robot
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Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion
Sequential motion planning for bipedal somersault via flywheel slip and momentum transmission with task space control
Somersaults of bipedal robot using spring-mass model
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Sequential motion planning for bipedal somersault via flywheel slip and momentum transmission with task space control
Optimal Control of Piecewise-Smooth Control Systems via Singular Perturbations
Develops a smooth approximation framework to solve optimal control problems in piecewise-smooth vector fields, and generates motion plans for a 18-DOF lower-body exoskeleton.
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Motion decoupling and composition via reduced order model optimization for dynamic humanoid walking with clf-qp based active force control
Humanoid walking control using reduced order models.
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Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model
A Hybrid passive Linear Inverted Pendulum model for characterizing and stabilizing periodic walking orbits.
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Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model
Bipedial locomotion up sandy slopes: Systematic experiments using zero moment point methods
Zero Moment Point (ZMP)-based gaits for a 7-DOF bipedal robot to ascend sandy slopes up to 10°, showing that optimizing step length and center of mass height improves stability and success rates on granular terrain.
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Bipedial locomotion up sandy slopes: Systematic experiments using zero moment point methods
Coupling Reduced Order Models via Feedback Control for 3D Underactuated Bipedal Robotic Walking
A control framework that couples aSLIP and LIP for movments in different directions.
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Coupling Reduced Order Models via Feedback Control for 3D Underactuated Bipedal Robotic Walking
Bipedal Hopping: Reduced-order Model Embedding via Optimization-based Control
Bipedal Jumping Control via CLF-QP and Spring-Mass Model
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Bipedal Hopping: Reduced-order Model Embedding via Optimization-based Control