Nathan Boyd

2 accepted papers

2022

Momentum-Aware Trajectory Optimization and Control for Agile Quadrupedal Locomotion

Ziyi Zhou, Bruce Wingo, Nathan Boyd, Seth Hutchinson, Ye Zhao

RA-L 2022

In this letter, we present a versatile hierarchical offline planning algorithm, along with an online control pipeline for agile quadrupedal locomotion. Our offline planner alternates between optimizing centroidal dynamics for a reduced-order model and whole-body trajectory optimization, with the aim

Cited by 36 Source ↗Scholar ↗

2022

Reactive Locomotion Decision-Making and Robust Motion Planning for Real-Time Perturbation Recovery

Zhaoyuan Gu, Nathan Boyd, Ye Zhao

ICRA 2022poster

In this paper, we examine the problem of push recovery for bipedal robot locomotion and present a reactive decision-making and robust planning framework for locomotion resilient to external perturbations. Rejecting perturbations is an essential capability of bipedal robots and has been widely studie…

Cited by 23 Source ↗Scholar ↗