template model

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 …
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Time-Varying Foot-Placement Control for Underactuated Humanoid Walking on Swaying Rigid Surfaces
Template model inspired task space learning for robust bipedal locomotion
This work presents a hierarchical framework for bipedal locomotion that combines a Reinforcement Learning (RL)-based high-level (HL) …
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Template model inspired task space learning for robust bipedal locomotion
Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robotic Walking on a Swaying Rigid Surface
Controller design for bipedal walking on dynamic rigid surfaces (DRSes), which are rigid surfaces moving in the inertial frame (e.g., …
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Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robotic Walking on a Swaying Rigid Surface
Feedback control of a cassie bipedal robot: Walking, standing, and riding a segway
The Cassie bipedal robot designed by Agility Robotics is providing academics with a common platform for sharing and comparing …
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Feedback control of a cassie bipedal robot: Walking, standing, and riding a segway
Dynamic multi-domain bipedal walking with atrias through slip based human-inspired control
This paper presents a methodology for achieving efficient multi-domain underactuated bipedal walking on compliant robots by formally …
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Dynamic multi-domain bipedal walking with atrias through slip based human-inspired control
Embedding of slip dynamics on underactuated bipedal robots through multi-objective quadratic program based control
This paper presents a method for achieving stable periodic walking, consisting of phases of single and double support, on underactuated …
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Embedding of slip dynamics on underactuated bipedal robots through multi-objective quadratic program based control