trajectory optimization

Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking
This manuscript presents control of a high-DOF fully actuated lower-limb exoskeleton for paraplegic individuals. The key novelty is the …
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Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking
FROST*: Fast Robot Optimization and Simulation Toolkit
This paper presents FROST, an open-source MATLAB toolkit for modeling, trajectory optimization and simulation of hybrid dynamical …
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FROST*: Fast Robot Optimization and Simulation Toolkit
Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization
This paper presents an optimal gait synthesis method that exploits the full body dynamics of robots using the Hybrid Zero Dynamics …
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Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization
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
Hybrid Zero Dynamics based Multiple Shooting Optimization with Applications to Robotic Walking
Hybrid zero dynamics (HZD) has emerged as a popular framework for the stable control of bipedal robotic gaits, but typically designing …
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Hybrid Zero Dynamics based Multiple Shooting Optimization with Applications to Robotic Walking
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