Publications

IROS 2026 · accepted (author-reported)

Model-Informed Safe Reinforcement Learning for Bipedal Locomotion via Step-to-Step Prediction

Reduced-model safety certificates inform reinforcement learning and runtime foot-placement filtering in Digit simulation.

arXiv preprint

Perceptive Variable-Timing Footstep Planning for Humanoid Locomotion on Disconnected Footholds

Depth-based steppable regions and variable-timing planning evaluated in Digit simulation.

IEEE Transactions on Control Systems Technology · 2026

Learning Terrain-Aware Bipedal Locomotion via Reduced-Dimensional Perceptual Representations

Compact terrain representations for simulated Digit locomotion, with preliminary hardware sensor comparisons.

IROS 2025

Adaptive Step Duration for Accurate Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds

Simulation study of adaptive step timing and foot placement on constrained stepping-stone terrain.

arXiv preprint

Reinforcement learning with data bootstrapping for dynamic subgoal pursuit in humanoid robot navigation

Data-bootstrapped reinforcement learning selects navigation subgoals for an MPC gait planner, evaluated in Digit simulation.

ICRA 2025

Real-time safe bipedal robot navigation using linear discrete control barrier functions

Digit simulation study of obstacle avoidance with linear discrete control barrier functions.

IEEE Transactions on Robotics · 2025

Time-varying foot placement control for humanoid walking on swaying rigid surface

Digit hardware and simulation experiments on periodically swaying ground.

ACC 2024

Safe whole-body task space control for humanoid robots

ACC 2024

Moving past point-contacts: Extending the ALIP model to humanoids with non-trivial feet using hierarchical, full-body momentum control

ICRA 2024

Data-driven latent space representation for robust bipedal locomotion learning

arXiv preprint

Unified path and gait planning for safe bipedal robot navigation

Unified path and gait planning evaluated in Digit simulation with randomly generated obstacles.

ICRA 2024

Towards standardized disturbance rejection testing of legged robot locomotion with linear impactor: A preliminary study, observations, and implications

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Template model inspired task space learning for robust bipedal locomotion

IEEE Transactions on Robotics

On the Comparability and Optimal Aggressiveness of the Adversarial Scenario-Based Safety Testing of Robots

2023 American Control Conference (ACC)

Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robotic Walking on a Swaying Rigid Surface

2023 IEEE International Conference on Robotics and Automation (ICRA)

Safe Bipedal Path Planning via Control Barrier Functions for Polynomial Shape Obstacles Estimated Using Logistic Regression

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Resolved motion control for 3d underactuated bipedal walking using linear inverted pendulum dynamics and neural adaptation

IEEE Access

Reinforcement learning-based cascade motion policy design for robust 3D bipedal locomotion

arXiv preprint arXiv:2210.03280

Real-Time Navigation for Bipedal Robots in Dynamic Environments

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

On safety testing, validation, and characterization with scenario-sampling: A case study of legged robots

IEEE Robotics and Automation Letters (RA-L)

Linear policies are sufficient to realize robust bipedal walking on challenging terrains

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Robust feedback motion policy design using reinforcement learning on a 3d digit bipedal robot

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Learning linear policies for robust bipedal locomotion on terrains with varying slopes

arXiv preprint arXiv:2104.11775

Adaptive feedback regulator for powered lower-limb exoskeleton under model uncertainty

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Velocity regulation of 3d bipedal walking robots with uncertain dynamics through adaptive neural network controller

Dynamic Systems and Control Conference (DSCC)

Dynamic locomotion of a lower-limb exoskeleton through virtual constraints based zmp regulation

2020 IEEE International Conference on Robotics and Automation (ICRA)

Hybrid zero dynamics inspired feedback control policy design for 3d bipedal locomotion using reinforcement learning

Algorithmic Foundations of Robotics XII: Proceedings of the Twelfth Workshop on the Algorithmic Foundations of Robotics

Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS

2019 International Conference on Robotics and Automation (ICRA)

Reinforcement Learning Meets Hybrid Zero Dynamics: A case study for RABBIT

IEEE/RSJ International Conference on Intelligent Robots and Systems

Rapid Trajectory Optimization Using C-FROST with Illustration on a Cassie-Series Dynamic Walking Biped

2019 American Control Conference (ACC)

Feedback control of a cassie bipedal robot: Walking, standing, and riding a segway

Journal of Dynamic Systems, Measurement, and Control

Enhancing the performance of a safe controller via supervised learning for truck lateral control

2018 IEEE international conference on robotics and automation (ICRA)

Towards restoring locomotion for paraplegics: Realizing dynamically stable walking on exoskeletons

2018 Annual American Control Conference (ACC)

Input to state stabilizing control lyapunov functions for robust bipedal robotic locomotion

IEEE Control Systems Magazine

Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking

IEEE Transactions on Robotics

Dynamic humanoid locomotion: A scalable formulation for HZD gait optimization

Robotica

Multi-contact bipedal robotic locomotion

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

FROST*: Fast Robot Optimization and Simulation Toolkit

IEEE Access

First steps towards translating HZD control of bipedal robots to decentralized control of exoskeletons

2016 IEEE International Conference on Robotics and Automation (ICRA)

Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion

2016 American Control Conference (ACC)

Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion

2016 IEEE International Conference on Robotics and Automation (ICRA)

Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS

Decision and Control (CDC), 2016 IEEE 55th Conference on

Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Efficient HZD gait generation for three-dimensional underactuated humanoid running

2016 IEEE 55th Conference on Decision and Control (CDC)

3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation

2016 IEEE International Conference on Robotics and Automation (ICRA)

3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics

2016 IEEE 55th Conference on Decision and Control (CDC)

3d dynamic walking on stepping stones with control barrier functions

IEEE Robotics & Automation Magazine

The ach library: a new framework for real-time communication

IEEE International Conference on Robotics and Automation

Hybrid Zero Dynamics based Multiple Shooting Optimization with Applications to Robotic Walking

2014 IEEE International Symposium on Electromagnetic Compatibility (EMC)

Signal integrity optimization of MLVDS based multi-master instrument bus

53rd IEEE Conference on Decision and Control

Embedding of slip dynamics on underactuated bipedal robots through multi-objective quadratic program based control

Proceedings of the 17th international conference on Hybrid systems: computation and control

Dynamic multi-domain bipedal walking with atrias through slip based human-inspired control

2013 IEEE international conference on robotics and automation

Speed regulation in 3D robotic walking through motion transitions between human-inspired partial hybrid zero dynamics

Robotics: Science and Systems

Correct software synthesis for stable speed-controlled robotic walking