3 accepted papers
For bipedal humanoid robots to successfully operate in the real world, they must be competent at simultaneously executing multiple motion tasks while reacting to unforeseen external disturbances in real-time. We propose Kinodynamic Fabrics as an approach for the specification, solution and simultane…
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…
This paper presents a gait controller for bipedal robots to achieve highly agile walking over various terrains given local slope and friction cone information. Without these considerations, untimely impacts can cause a robot to trip and inadequate tangential reaction forces at the stance foot can ca…