Reduced Order Model

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
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
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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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
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