motion primitives

The ach library: a new framework for real-time communication
Correct real-time software is vital for robots in safety-critical roles such as service and disaster response. These systems depend on …
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The ach library: a new framework for real-time communication
Correct software synthesis for stable speed-controlled robotic walking
We present a software synthesis method for speed- controlled robot walking based on supervisory control of a context-free Motion …
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Correct software synthesis for stable speed-controlled robotic walking
Speed regulation in 3D robotic walking through motion transitions between human-inspired partial hybrid zero dynamics
This paper employs the Human-Inspired Control framework in the formal design, optimization and implementation of controllers for 3D …
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Speed regulation in 3D robotic walking through motion transitions between human-inspired partial hybrid zero dynamics