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Moving past point-contacts: Extending the ALIP model to humanoids with non-trivial feet using hierarchical, full-body momentum control
The Angular-Momentum Linear Inverted Pendulum (ALIP) model is a promising motion planner for bipedal robots. However, it relies on two …
Victor Paredes
,
Daniel Hagen
,
Samual Chesebrough
,
Riley Swann
,
Denis Garagic
,
Ayonga Hereid
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Video
IEEE
Safe Whole-Body Task Space Control for Humanoid Robots
Complex robotic systems require whole-body controllers to handle contact interactions, handle closed kinematic chains, and track …
Victor Paredes
,
Ayonga Hereid
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Video
IEEE
Data-driven latent space representation for robust bipedal locomotion learning
This paper presents a novel framework for learning robust bipedal walking by combining a data-driven state representation with a …
Guillermo A Castillo
,
Bowen Weng
,
Wei Zhang
,
Ayonga Hereid
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Video
IEEE
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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Video
arXiv
Towards Standardized Disturbance Rejection Testing of Legged Robot Locomotion with Linear Impactor: A Preliminary Study, Observations, and Implications
Dynamic locomotion in legged robots is close to industrial collaboration, but a lack of standardized testing obstructs …
Bowen Weng
,
Guillermo A Castillo
,
Yun-Seok Kang
,
Ayonga Hereid
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Video
IEEE
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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Video
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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Video
IEEE
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