1

FROST*: Fast Robot Optimization and Simulation Toolkit
This paper presents FROST, an open-source MATLAB toolkit for modeling, trajectory optimization and simulation of hybrid dynamical …
PDF Cite Code Project Video IEEE
FROST*: Fast Robot Optimization and Simulation Toolkit
3d dynamic walking on stepping stones with control barrier functions
3D dynamical walking subject to precise footstep placements is crucial for navigating real world terrain with discrete footholds. We …
PDF Cite Video IEEE
3d dynamic walking on stepping stones with control barrier functions
3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics
Hybrid zero dynamics (HZD) has emerged as a popular framework for dynamic and underactuated bipedal walking, but has significant …
PDF Cite Project Video IEEE
3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics
3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation
Virtual constraints have been recognized as an essential bridging tool which has the potential to translate rich nonlinear bipedal …
PDF Cite Project Video
3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation
Efficient HZD gait generation for three-dimensional underactuated humanoid running
Dynamic humanoid locomotion is a challenging control problem, and running is especially difficult to achieve, given the underactuation …
PDF Cite Project Video IEEE
Efficient HZD gait generation for three-dimensional underactuated humanoid running
Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization
This paper presents an optimal gait synthesis method that exploits the full body dynamics of robots using the Hybrid Zero Dynamics …
PDF Cite Project Video IEEE
Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization
Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS
This paper presents the methodology used to achieve efficient and dynamic walking behaviors on the prototype humanoid robotics …
PDF Cite Video IEEE
Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS
Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion
Implementing state-based parameterized periodic trajectories on complex robotic systems, e.g., humanoid robots, can lead to instability …
PDF Cite Video IEEE
Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion
Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion
Humanoid robots are designed with dozens of actuated joints to suit a variety of tasks, but walking controllers rarely make the best …
PDF Cite Project IEEE
Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion
Hybrid Zero Dynamics based Multiple Shooting Optimization with Applications to Robotic Walking
Hybrid zero dynamics (HZD) has emerged as a popular framework for the stable control of bipedal robotic gaits, but typically designing …
PDF Cite Project Video IEEE
Hybrid Zero Dynamics based Multiple Shooting Optimization with Applications to Robotic Walking