whole body control

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 …
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Moving past point-contacts: Extending the ALIP model to humanoids with non-trivial feet using hierarchical, full-body momentum control
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 …
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Safe whole-body task space control for humanoid robots
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