3 accepted papers
For amputees, walking on sloped surfaces is one of the most challenging tasks in their daily lives. Unfortunately, designing a prosthesis that can effectively adapt to varying terrain is an ongoing problem. In this paper, we propose a unified control scheme that enables a powered transfemoral prosth…
To generate a dynamic bipedal walking with foot rolling motion for bipedal robot, hybrid trajectory optimization is capable of planning level walking with great energetic efficiency. However, the direct implementation of this optimization requires different sets of variables to express different act…
Trajectory optimization with direct collocation are widely used in various bipedal walking studies, from dynamic simulation in biomechanics to efficient bipedal walking motion generation with multiple contact domains. Although the latter has gained popularity, most of the approaches in this field in…