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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
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 …
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Robust feedback motion policy design using reinforcement learning on a 3d digit bipedal robot
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 …
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Dynamic locomotion of a lower-limb exoskeleton through virtual constraints based zmp regulation
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 …
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Velocity regulation of 3d bipedal walking robots with uncertain dynamics through adaptive neural network controller
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 …
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Hybrid zero dynamics inspired feedback control policy design for 3d bipedal locomotion using reinforcement learning
Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS
This paper presents the meta-algorithmic approach used to realize multi-contact walking on the humanoid robot, DURUS. This systematic …
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Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS
Reinforcement Learning Meets Hybrid Zero Dynamics: A case study for RABBIT
The design of feedback controllers for bipedal robots is challenging due to the hybrid nature of its dynamics and the complexity …
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Reinforcement Learning Meets Hybrid Zero Dynamics: A case study for RABBIT
Feedback control of a cassie bipedal robot: Walking, standing, and riding a segway
The Cassie bipedal robot designed by Agility Robotics is providing academics with a common platform for sharing and comparing …
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Feedback control of a cassie bipedal robot: Walking, standing, and riding a segway
Rapid Trajectory Optimization Using C-FROST with Illustration on a Cassie-Series Dynamic Walking Biped
One of the big attractions of low-dimensional models for gait design has been the ability to compute solutions rapidly, whereas one of …
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Rapid Trajectory Optimization Using C-FROST with Illustration on a Cassie-Series Dynamic Walking Biped