hybrid zero dynamics

This paper presents a novel model-free reinforcement learning (RL) framework to design feedback control policies for 3D bipedal …

The design of feedback controllers for bipedal robots is challenging due to the hybrid nature of its dynamics and the complexity …

This paper presents preliminary results toward translating gait and control design for bipedal robots to decentralized control of an …

This paper presents a formal framework for achieving multi-contact bipedal robotic walking, and realizes this methodology …

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

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

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

Hybrid zero dynamics (HZD) has emerged as a popular framework for the stable control of bipedal robotic gaits, but typically designing …