virtual constraints

Dynamic locomotion of a lower-limb exoskeleton through virtual constraints based zmp regulation
Robotic lower-limb exoskeletons have the potentials to assist individuals with paraplegia to perform normal ambulatory functions and to …
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Dynamic locomotion of a lower-limb exoskeleton through virtual constraints based zmp regulation
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 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
Multi-contact bipedal robotic locomotion
This paper presents a formal framework for achieving multi-contact bipedal robotic walking, and realizes this methodology …
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Multi-contact bipedal robotic locomotion
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