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Our research focuses on developing advanced algorithms and technologies to enable humanoid robots to perceive their environment, navigate autonomously, and achieve human-like locomotion.
Our primary objective is to enhance industrial assistance and automation by combining the strengths of human-like locomotion and exoskeleton technology, thereby promoting the commercial use of powered exoskeleton for human-machine collaboration in various industrial settings.
As legged robots become increasingly prevalent in various applications, it is crucial to develop robust safety testing methodologies to identify potential risks and ensure safe operation.
Featured Publications
Moving past point-contacts: Extending the ALIP model to humanoids with non-trivial feet using hierarchical, full-body momentum control.
American Control Conference,
2024.
Safe Whole-Body Task Space Control for Humanoid Robots.
American Control Conference,
2024.
Towards Standardized Disturbance Rejection Testing of Legged Robot Locomotion with Linear Impactor: A Preliminary Study, Observations, and Implications.
2024 IEEE International Conference on Robotics and Automation (ICRA),
2023.
Safe Bipedal Path Planning via Control Barrier Functions for Polynomial Shape Obstacles Estimated Using Logistic Regression.
2023 IEEE International Conference on Robotics and Automation (ICRA),
2023.
Popular Topics
atalante
control
control barrier function
control Lyapunov function
direct collocation
exoskeleton
frost
humanoid
hybrid zero dynamics
learning
motion planning
motion primitives
multi-contact locomotion
path planning
reinforcement learning
robust locomotion
safety testing
template model
trajectory optimization
virtual constraints