Data-Driven Control

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
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
Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation
A stepping stabilization control for bipedal robots, leveraging learned linear step-to-step (S2S) dynamics with bounded model discrepancy, using step size as the control input to maintain approximately constant center of mass height and mitigate external push disturbances.
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Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation