3

Adaptive Step Duration for Precise Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds
Traditional one-step preview planning algorithms for bipedal locomotion struggle to generate viable gaits when walking across terrains …
PDF Cite Project Video arXiv
Adaptive Step Duration for Precise Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds
Real-Time Safe Bipedal Robot Navigation using Linear Discrete Control Barrier Functions
Safe navigation in real-time is an essential task for humanoid robots in real-world deployment. Since humanoid robots are inherently …
PDF Cite Project Video arXiv
Real-Time Safe Bipedal Robot Navigation using Linear Discrete Control Barrier Functions
Unified Path and Gait Planning for Safe Bipedal Robot Navigation
Safe path and gait planning are essential for bipedal robots to navigate complex real-world environments. The prevailing approaches …
PDF Cite Project Video arXiv
Unified Path and Gait Planning for Safe Bipedal Robot Navigation
Time-Varying Foot-Placement Control for Underactuated Humanoid Walking on Swaying Rigid Surfaces
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller …
PDF Cite Project Video arXiv
Time-Varying Foot-Placement Control for Underactuated Humanoid Walking on Swaying Rigid Surfaces
Real-Time Navigation for Bipedal Robots in Dynamic Environments
The popularity of mobile robots has been steadily growing, with these robots being increasingly utilized to execute tasks previously …
PDF Cite Project Video arXiv
Real-Time Navigation for Bipedal Robots in Dynamic Environments
Adaptive feedback regulator for powered lower-limb exoskeleton under model uncertainty
This paper presents a neural network (NN) based adaptive feedback regulator to ensure the lateral and longitudinal stability and …
PDF Cite Project arXiv
Adaptive feedback regulator for powered lower-limb exoskeleton under model uncertainty