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09/23/2022
Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors
Achieving stable hopping has been a hallmark challenge in the field of d...
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09/21/2022
Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization
The ability to generate robust walking gaits on bipedal robots is key to...
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04/18/2022
Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies
This work presents Neural Gaits, a method for learning dynamic walking g...
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03/14/2022
Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics
The ability to generate dynamic walking in real-time for bipedal robots ...
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09/10/2021
Interactive multi-modal motion planning with Branch Model Predictive Control
Motion planning for autonomous robots and vehicles in presence of uncont...
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06/18/2021
Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots
Functional autonomous systems often realize complex tasks by utilizing s...
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05/04/2021
Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety
This paper combines episodic learning and control barrier functions in t...
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02/25/2021
Learning Controller Gains on Bipedal Walking Robots via User Preferences
Experimental demonstration of complex robotic behaviors relies heavily o...
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11/10/2020