Control Theory

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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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
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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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