Research Projects
Perceptive Humanoid Locomotion and Autonomous Navigation
Perception-aware footstep planning and navigation for humanoid robots.
Hybrid Locomotion Control for Industrial Full Body Exoskeletons
Hybrid dynamics and walking control for coupled human–robot systems.
Safety Testing of Legged Robots
Repeatable disturbance-rejection testing and comparison of legged robot controllers.
Hierarchical Reinforcement Learning (HRL) for Safe Dynamic Legged Locomotion
Model-informed learning methods for dynamic bipedal locomotion.
Safe Task Space Controller for Underactuated Robotic Systems
Task-space control with dynamic, contact, and safety constraints for humanoid robots.
Dynamic Locomotion Control for Self-Balancing Lower-Limb Exoskeletons
Dynamic walking control for self-balancing powered lower-limb exoskeletons.
Fast Robot Optimization and Simulation Toolkit (FROST)
Open-source modeling, trajectory optimization, and simulation for hybrid robot dynamics.