3 accepted papers
Recognizing and identifying human locomotion is a critical step to ensuring fluent control of wearable robots, such as transtibial prostheses. In particular, classifying the locomotion mode and estimating the gait phase are key. In this work, a novel, interpretable, and computationally efficient alg
A fundamental problem in legged locomotion is to verify whether a desired trajectory satisfies all physical constraints, especially those for maintaining contacts. Although foot tipping can be avoided via the Zero Moment Point (ZMP) condition, preventing foot sliding and twisting leads to the more c
This paper presents a control strategy for quadruped robots to hop on their rear legs in three-dimensional space. The proposed approach generates nominal center of mass (CoM) trajectories based on a template spring-loaded inverted pendulum (SLIP) model. Tracking this reference remains a challenge du…