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This paper analyzes the input to state stability properties of controllers which stabilize hybrid periodic orbits. Systems that are …

This paper presents the first experimental results of crutch-less dynamic walking with paraplegics on a lower-body exoskeleton: …

This paper presents FROST, an open-source MATLAB toolkit for modeling, trajectory optimization and simulation of hybrid dynamical …

3D dynamical walking subject to precise footstep placements is crucial for navigating real world terrain with discrete footholds. We …

Hybrid zero dynamics (HZD) has emerged as a popular framework for dynamic and underactuated bipedal walking, but has significant …

Virtual constraints have been recognized as an essential bridging tool which has the potential to translate rich nonlinear bipedal …

Dynamic humanoid locomotion is a challenging control problem, and running is especially difficult to achieve, given the underactuation …

This paper presents an optimal gait synthesis method that exploits the full body dynamics of robots using the Hybrid Zero Dynamics …

This paper presents the methodology used to achieve efficient and dynamic walking behaviors on the prototype humanoid robotics …

Implementing state-based parameterized periodic trajectories on complex robotic systems, e.g., humanoid robots, can lead to instability …