Aayushi Shrivastava — accepted AI-conference papers

2024

Demonstrating a Robust Walking Algorithm for Underactuated Bipedal Robots in Non-flat, Non-stationary Environments

Oluwami Dosunmu-Ogunbi, Aayushi Shrivastava, Jessy W Grizzle

IROS 2024poster

This work explores an innovative algorithm designed to enhance the mobility of underactuated bipedal robots across challenging terrains, especially when navigating through spaces with constrained opportunities for foot support, like steps or stairs. By combining ankle torque with a refined angular m…

Cited by 0 Source ↗Scholar ↗

2023

Stair Climbing Using the Angular Momentum Linear Inverted Pendulum Model and Model Predictive Control

Oluwami Dosunmu-Ogunbi, Aayushi Shrivastava, Grant Gibson, Jessy W Grizzle

IROS 2023poster

A new control paradigm using angular momentum and foot placement as state variables in the linear inverted pendulum model has expanded the realm of possibilities for the control of bipedal robots. This new paradigm, known as the ALIP model, has shown effectiveness in cases where a robot's center of…

Cited by 7 Source ↗Scholar ↗