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Moving past point-contacts: Extending the ALIP model to humanoids with non-trivial feet using hierarchical, full-body momentum control
The Angular-Momentum Linear Inverted Pendulum (ALIP) model is a promising motion planner for bipedal robots. However, it relies on two …
Victor Paredes
,
Daniel Hagen
,
Samual Chesebrough
,
Riley Swann
,
Denis Garagic
,
Ayonga Hereid
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IEEE
Safe Whole-Body Task Space Control for Humanoid Robots
Complex robotic systems require whole-body controllers to handle contact interactions, handle closed kinematic chains, and track …
Victor Paredes
,
Ayonga Hereid
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Video
IEEE
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) …
Guillermo A Castillo
,
Bowen Weng
,
Shunpeng Yang
,
Wei Zhang
,
Ayonga Hereid
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arXiv
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