direct collocation

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
Dynamic humanoid locomotion: A scalable formulation for HZD gait optimization
Hybrid zero dynamics (HZD) has emerged as a popular framework for dynamic walking but has significant implementation difficulties when …
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Dynamic humanoid locomotion: A scalable formulation for HZD gait optimization
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 …
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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 …
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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 …
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Efficient HZD gait generation for three-dimensional underactuated humanoid running
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 …
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Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion