4 accepted papers
This manuscript primarily aims to enhance the performance of whole-body controllers(WBC) for underactuated legged locomotion. We introduce a systematic parameter design mechanism for the floating-base feedback control within the WBC. The proposed approach involves utilizing the linearized model of u…
This paper presents a novel framework for point- foot biped running in three-dimensional space. The proposed approach generates center of mass (CoM) reference trajectories based on a differentially flat spring-loaded inverted pendulum (SLIP) model. A foothold planner is used to select touch down loc…
This paper studies autonomous stair climbing for quadrupedal robots with perception. Enabling quadrupeds to reliably climb staircases greatly expands their applicability in practical scenarios. For this structured task, we develop a simple yet effective perception and control framework for autonomou…
This letter studies jumping for wheeled-bipedal robots, a motion that takes full advantage of the benefits from the hybrid wheeled and legged design features. A comprehensive hierarchical scheme for motion planning and control of jumping with wheeled-bipedal robots is developed. Underactuation of th