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

v1v2v3 (latest)

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

23 January 2021

ArXiv (abs)PDF HTML

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

18 / 18 papers shown

Title
Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation Xiaobin Xiong Yuxiao Chen Aaron D. Ames 60 10 0 26 Jan 2022
Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control Min Dai Xiaobin Xiong Aaron D. Ames 59 18 0 21 Apr 2021
SLIP Walking over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program Xiaobin Xiong Aaron D. Ames 56 24 0 19 Feb 2021
Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds Yanran Ding Abhishek Pandala Chuanzheng Li Young-Ha Shin Hae-Won Park 64 138 0 18 Dec 2020
Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning Xiaobin Xiong Jenna Reher Aaron D. Ames 77 30 0 11 Nov 2020
Risk-Averse Planning via CVaR Barrier Functions: Application to Bipedal Robot Locomotion M. Ahmadi Xiaobin Xiong Aaron D. Ames 64 10 0 03 Nov 2020
Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking Jenna Reher Aaron D. Ames 59 22 0 18 Oct 2020
Animated Cassie: A Dynamic Relatable Robotic Character Zhongyu Li Christine Cummings Koushil Sreenath 49 28 0 07 Sep 2020
Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-based Controller Yukai Gong J. Grizzle 41 40 0 25 Aug 2020
Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model with Hybrid LIP Based Stepping Xiaobin Xiong Aaron D. Ames 54 31 0 06 Aug 2020
Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control Xiaobin Xiong Aaron D. Ames 63 13 0 06 Aug 2020
Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model Xiaobin Xiong Aaron D. Ames 50 31 0 01 Oct 2019
Biped Stabilization by Linear Feedback of the Variable-Height Inverted Pendulum Model Stéphane Caron 50 24 0 17 Sep 2019
Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway Yukai Gong R. Hartley Xingye Da Ayonga Hereid Omar Harib Jiunn-Kai Huang J. Grizzle 57 190 0 19 Sep 2018
Bipedal Hopping: Reduced-order Model Embedding via Optimization-based Control Xiaobin Xiong Aaron D. Ames 49 84 0 20 Jul 2018
Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation R. Hartley Maani Ghaffari Jadidi J. Grizzle Ryan Eustice 121 53 0 26 May 2018
Walking Stabilization Using Step Timing and Location Adjustment on the Humanoid Robot, Atlas Robert J. Griffin Georg Wiedebach Sylvain Bertrand Alexander Leonessa J. Pratt 70 99 0 01 Mar 2017
Restricted Discrete Invariance and Self-Synchronization For Stable Walking of Bipedal Robots H. Razavi Anthony N. Bloch C. Chevallereau J. Grizzle 55 15 0 01 Nov 2014

We use cookies and other tracking technologies to improve your browsing experience on our website, to show you personalized content and targeted ads, to analyze our website traffic, and to understand where our visitors are coming from. See our policy.