Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robotic Walking on a Swaying Rigid Surface, by Yuan Gao, Yukai Gong, Victor Paredes, Ayonga Hereid, and Yan Gu, was accepted to the 2023 American Control Conference (ACC).
The paper develops a reduced-order model and foot-placement controller that account for horizontal surface motion, with evaluation in planar biped simulation. ACC 2023 took place in San Diego, California, from May 31 to June 2, 2023.
Read the paper and citation or visit the proceedings record.