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Template model inspired task space learning for robust bipedal locomotion
This work presents a hierarchical framework for bipedal locomotion that combines a Reinforcement Learning (RL)-based high-level (HL) …
Guillermo A Castillo
,
Bowen Weng
,
Shunpeng Yang
,
Wei Zhang
,
Ayonga Hereid
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arXiv
Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robotic Walking on a Swaying Rigid Surface
Controller design for bipedal walking on dynamic rigid surfaces (DRSes), which are rigid surfaces moving in the inertial frame (e.g., …
Yuan Gao
,
Yukai Gong
,
Victor Paredes
,
Ayonga Hereid
,
Yan Gu
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IEEE
arXiv
Safe Bipedal Path Planning via Control Barrier Functions for Polynomial Shape Obstacles Estimated Using Logistic Regression
Safe path planning is critical for bipedal robots to operate in safety-critical environments. Common path planning algorithms, such as …
Chengyang Peng
,
Octavian Donca
,
Guillermo Castillo
,
Ayonga Hereid
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Video
IEEE
On safety testing, validation, and characterization with scenario-sampling: A case study of legged robots
The dynamic response of the legged robot locomotion is non-Lipschitz and can be stochastic due to environmental uncertainties. To test, …
Bowen Weng
,
Guillermo A Castillo
,
Wei Zhang
,
Ayonga Hereid
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IEEE
Resolved motion control for 3d underactuated bipedal walking using linear inverted pendulum dynamics and neural adaptation
We present a framework to generate periodic trajectory references for a 3D under-actuated bipedal robot, using a linear inverted …
Victor C Paredes
,
Ayonga Hereid
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IEEE
Learning linear policies for robust bipedal locomotion on terrains with varying slopes
In this paper, with a view toward deployment of light-weight control frameworks for bipedal walking robots, we realize end-foot …
Lokesh Krishna
,
Utkarsh A Mishra
,
Guillermo A Castillo
,
Ayonga Hereid
,
Shishir Kolathaya
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IEEE
Robust feedback motion policy design using reinforcement learning on a 3d digit bipedal robot
In this paper, a hierarchical and robust framework for learning bipedal locomotion is presented and successfully implemented on the 3D …
Guillermo A Castillo
,
Bowen Weng
,
Wei Zhang
,
Ayonga Hereid
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Video
IEEE
Dynamic locomotion of a lower-limb exoskeleton through virtual constraints based zmp regulation
Robotic lower-limb exoskeletons have the potentials to assist individuals with paraplegia to perform normal ambulatory functions and to …
Victor Paredes
,
Ayonga Hereid
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Video
ASME
Velocity regulation of 3d bipedal walking robots with uncertain dynamics through adaptive neural network controller
This paper presents a neural-network based adaptive feedback control structure to regulate the velocity of 3D bipedal robots under …
Guillermo A Castillo
,
Bowen Weng
,
Terrence C Stewart
,
Wei Zhang
,
Ayonga Hereid
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IEEE
Hybrid zero dynamics inspired feedback control policy design for 3d bipedal locomotion using reinforcement learning
This paper presents a novel model-free reinforcement learning (RL) framework to design feedback control policies for 3D bipedal …
Guillermo A Castillo
,
Bowen Weng
,
Wei Zhang
,
Ayonga Hereid
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Video
IEEE
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