Tara Bartlett — accepted AI-conference papers

2024

Real-time Coupled Centroidal Motion and Footstep Planning for Biped Robots

IROS 2024poster

This paper presents an algorithm that finds a centroidal motion and footstep plan for a Spring-Loaded Inverted Pendulum (SLIP)-like bipedal robot model substantially faster than real-time. This is achieved with a novel representation of the dynamic footstep planning problem, where each point in the…

Cited by 0 Source ↗Scholar ↗

2019

Autonomous Hybrid Ground/Aerial Mobility in Unknown Environments

David D. Fan, Rohan Thakker, Tara Bartlett, Meriem Ben Miled, Leon Kim, Evangelos Theodorou +1

IROS 2019poster

Hybrid ground and aerial vehicles can possess distinct advantages over ground-only or flight-only designs in terms of energy savings and increased mobility. In this work we outline our unified framework for controls, planning, and autonomy of hybrid ground/air vehicles. Our contribution is three-fol…

Cited by 54 Source ↗Scholar ↗