Bipedal Locomotion

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
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
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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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