3D Underactuated Bipedal Walking via H-LIP based Gait Synthesis and Stepping Stabilization

23 January 2021

Papers citing "3D Underactuated Bipedal Walking via H-LIP based Gait Synthesis and Stepping Stabilization"

15 / 15 papers shown

Title
Bracing for Impact: Robust Humanoid Push Recovery and Locomotion with Reduced Order Models Lizhi Yang Blake Werner Adrian B.Ghansah Aaron D. Ames 17 0 0 16 May 2025
Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control Min Dai Aaron D. Ames 33 0 0 25 Apr 2025
iWalker: Imperative Visual Planning for Walking Humanoid Robot Xiao Lin Yuhao Huang Taimeng Fu Xiaobin Xiong Chen Wang 41 0 0 27 Sep 2024
Safety-Critical Control with Bounded Inputs via Reduced Order Models Tamás G. Molnár Aaron D. Ames 24 15 0 06 Mar 2023
Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robot Walking on a Swaying Rigid Surface Yuan Gao Yukai Gong Victor Paredes Ayonga Hereid Yan Gu 23 13 0 24 Oct 2022
Data-driven Adaptation for Robust Bipedal Locomotion with Step-to-Step Dynamics Min Dai Xiaobin Xiong Jaemin Lee Aaron D. Ames 48 9 0 18 Sep 2022
From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps J. Verhagen Xiaobin Xiong Aaron D. Ames A. Seth 30 5 0 07 Sep 2022
Resolved Motion Control for 3D Underactuated Bipedal Walking using Linear Inverted Pendulum Dynamics and Neural Adaptation Victor Paredes Ayonga Hereid 24 20 0 02 Aug 2022
Orientation-Aware Model Predictive Control with Footstep Adaptation for Dynamic Humanoid Walking Yanran Ding Charles Khazoom Matthew Chignoli Sangbae Kim 39 24 0 30 May 2022
Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation Xiaobin Xiong Yuxiao Chen Aaron D. Ames 28 10 0 26 Jan 2022
Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments James Hegarty Zhaoyuan Gu J. Warnke Seth Hutchinson Armin Alaghi 32 32 0 23 Oct 2021
Autonomous Navigation of Underactuated Bipedal Robots in Height-Constrained Environments Zhongyu Li Jun Zeng Shuxiao Chen Koushil Sreenath 31 26 0 13 Sep 2021
Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control Min Dai Xiaobin Xiong Aaron D. Ames 30 18 0 21 Apr 2021
GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model Zhaoming Xie Xingye Da Buck Babich Animesh Garg M. van de Panne 24 66 0 20 Apr 2021
Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning Xiaobin Xiong Jenna Reher Aaron D. Ames 30 30 0 11 Nov 2020