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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 …
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Moving past point-contacts: Extending the ALIP model to humanoids with non-trivial feet using hierarchical, full-body momentum control
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 …
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Safe Whole-Body Task Space Control for Humanoid Robots
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 …
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Data-driven latent space representation for robust bipedal locomotion learning
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) …
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Template model inspired task space learning for robust bipedal locomotion
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 …
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Towards Standardized Disturbance Rejection Testing of Legged Robot Locomotion with Linear Impactor: A Preliminary Study, Observations, and Implications
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., …
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Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robotic Walking on a Swaying Rigid Surface
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 …
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Safe Bipedal Path Planning via Control Barrier Functions for Polynomial Shape Obstacles Estimated Using Logistic Regression
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, …
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On safety testing, validation, and characterization with scenario-sampling: A case study of legged robots
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 …
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Resolved motion control for 3d underactuated bipedal walking using linear inverted pendulum dynamics and neural adaptation
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 …
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Learning linear policies for robust bipedal locomotion on terrains with varying slopes