Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control

21 April 2021

Papers citing "Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control"

13 / 13 papers shown

Title
Bipedal Robust Walking on Uneven Footholds: Piecewise Slope LIPM with Discrete Model Predictive Control Yapeng Shi Sishu Li Yongqiang Wu Junjie Liu Xiaokun Leng Xizhe Zang Songhao Piao 41 0 0 03 Apr 2025
Time-Varying Foot-Placement Control for Underactuated Humanoid Walking on Swaying Rigid Surfaces Yuan Gao Victor Paredes Yukai Gong Zijian He Ayonga Hereid Yan Gu 28 0 0 12 Sep 2024
Adaptive Step Duration for Precise Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds Zhaoyang Xiang Victor Paredes Ayonga Hereid 40 4 0 25 Mar 2024
HT-LIP Model based Robust Control of Quadrupedal Robot Locomotion under Unknown Vertical Ground Motion Amir Iqbal Sushant Veer Christopher Niezrecki Yan Gu 36 1 0 24 Mar 2024
Demonstrating a Robust Walking Algorithm for Underactuated Bipedal Robots in Non-flat, Non-stationary Environments Oluwami Dosunmu-Ogunbi Aayushi Shrivastava J. Grizzle 31 0 0 04 Mar 2024
Bipedal Walking on Constrained Footholds with MPC Footstep Control Brian Acosta Michael Posa 43 11 0 14 Sep 2023
Stair Climbing using the Angular Momentum Linear Inverted Pendulum Model and Model Predictive Control Oluwami Dosunmu-Ogunbi Aayush Shrivastava Grant Gibson J. Grizzle 29 7 0 05 Jul 2023
Provably Stabilizing Global-Position Tracking Control for Hybrid Models of Multi-Domain Bipedal Walking via Multiple Lyapunov Analysis Yuan Gao Kentaro Barhydt Christopher Niezrecki Yan Gu 24 1 0 27 Apr 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 20 13 0 24 Oct 2022
Learning Dynamic Bipedal Walking Across Stepping Stones Helei Duan A. Malik M. S. Gadde Jeremy Dao Alan Fern J. Hurst 32 10 0 03 May 2022
Vision-aided Dynamic Quadrupedal Locomotion on Discrete Terrain using Motion Libraries Ayush Agrawal Shuxiao Chen Akshara Rai Koushil Sreenath 44 30 0 02 Oct 2021
Zero Dynamics, Pendulum Models, and Angular Momentum in Feedback Control of Bipedal Locomotion Yukai Gong J. Grizzle 23 42 0 17 May 2021
3D Underactuated Bipedal Walking via H-LIP based Gait Synthesis and Stepping Stabilization Xiaobin Xiong Aaron D. Ames 23 76 0 23 Jan 2021