Matthew J. Powell — accepted AI-conference papers

2019

Online Gait Transitions and Disturbance Recovery for Legged Robots via the Feasible Impulse Set

Chiheb Boussema, Matthew J. Powell, Gerardo Bledt, Auke Jan Ijspeert, Patrick M. Wensing, Sangbae Kim

RA-L 2019

Gaits in legged robots are often hand tuned and time based, either explicitly or through an internal clock, for instance, in the form of central pattern generators. This strategy requires trial and error to identify leg timings, which may not be suitable in challenging terrains. In this letter, we i

Cited by 38 Source ↗Scholar ↗

2019

Optimized Jumping on the MIT Cheetah 3 Robot

Quan Nguyen, Matthew J. Powell, Benjamin Katz, Jared Di Carlo, Sangbae Kim

ICRA 2019poster

This paper presents a novel methodology for implementing optimized jumping behavior on quadruped robots. Our method includes efficient trajectory optimization, precise high-frequency tracking controller and robust landing controller for stabilizing the robot body position and orientation after impac…

Cited by 166 Source ↗Scholar ↗

2018

MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot

Gerardo Bledt, Matthew J. Powell, Benjamin Katz, Jared Di Carlo, Patrick M. Wensing, Sangbae Kim

IROS 2018poster

This paper introduces a new robust, dynamic quadruped, the MIT Cheetah 3. Like its predecessor, the Cheetah 3 exploits tailored mechanical design to enable simple control strategies for dynamic locomotion and features high-bandwidth proprioceptive actuators to manage physical interaction with the en…

Cited by 880 Source ↗Scholar ↗

2016

Mechanics-based control of underactuated 3D robotic walking: Dynamic gait generation under torque constraints

Matthew J. Powell, Aaron D. Ames

IROS 2016poster

This paper presents a novel method of stabilizing hybrid models of torque-constrained, underactuated walking robots - without using nonlinear gait optimization - by leveraging properties of the mechanics of the robot. At its core, the controller stabilizes the transfer of angular momentum from one l…

Cited by 20 Source ↗Scholar ↗

2015

Model predictive control of underactuated bipedal robotic walking

Matthew J. Powell, Eric A. Cousineau, Aaron D. Ames

ICRA 2015poster

This paper addresses the problem of controlling underactuated bipedal walking robots in the presence of actuator torque saturation. The proposed method synthesizes elements of the Human-Inspired Control (HIC) approach for generating provably-stable walking controllers, rapidly exponentially stabiliz…

Cited by 45 Source ↗Scholar ↗