Autonomous Navigation of Underactuated Bipedal Robots in Height-Constrained Environments

13 September 2021

Papers citing "Autonomous Navigation of Underactuated Bipedal Robots in Height-Constrained Environments"

21 / 21 papers shown

Title
RTAB-Map as an Open-Source Lidar and Visual SLAM Library for Large-Scale and Long-Term Online Operation Mathieu Labbé François Michaud 113 737 0 10 Mar 2024
Long-Term Online Multi-Session Graph-Based SPLAM with Memory Management Mathieu Labbé François Michaud 40 80 0 30 Dec 2022
Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain Jiunn-Kai Huang J. Grizzle 56 42 0 15 Aug 2021
Control Lyapunov Functions for Compliant Hybrid Zero Dynamic Walking Jenna Reher Aaron D. Ames 61 12 0 09 Jul 2021
Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots Zhongyu Li Xuxin Cheng Xue Bin Peng Pieter Abbeel Sergey Levine Glen Berseth Koushil Sreenath 66 217 0 26 Mar 2021
Toward Safety-Aware Informative Motion Planning for Legged Robots Sangli Teng Yukai Gong J. Grizzle Maani Ghaffari 38 37 0 26 Mar 2021
Collision-Free MPC for Legged Robots in Static and Dynamic Scenes Magnus Gaertner Marko Bjelonic Farbod Farshidian Marco Hutter 39 47 0 25 Mar 2021
3D Underactuated Bipedal Walking via H-LIP based Gait Synthesis and Stepping Stabilization Xiaobin Xiong Aaron D. Ames 49 79 0 23 Jan 2021
Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning Xiaobin Xiong Jenna Reher Aaron D. Ames 70 30 0 11 Nov 2020
Animated Cassie: A Dynamic Relatable Robotic Character Zhongyu Li Christine Cummings Koushil Sreenath 30 28 0 07 Sep 2020
Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function Jun Zeng Bike Zhang Koushil Sreenath 40 274 0 22 Jul 2020
Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas Stefano Dafarra Sylvain Bertrand Robert J. Griffin Giorgio Metta Daniele Pucci J. Pratt 111 17 0 25 Apr 2020
Footstep Planning for Autonomous Walking Over Rough Terrain Robert J. Griffin Georg Wiedebach Stephen McCrory Sylvain Bertrand Inho Lee J. Pratt 86 78 0 19 Jul 2019
Safe Adaptive Switching among Dynamical Movement Primitives: Application to 3D Limit-Cycle Walkers Sushant Veer I. Poulakakis 23 14 0 01 Oct 2018
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 43 190 0 19 Sep 2018
Bipedal Hopping: Reduced-order Model Embedding via Optimization-based Control Xiaobin Xiong Aaron D. Ames 44 84 0 20 Jul 2018
Rapid Trajectory Optimization Using C-FROST with Illustration on a Cassie-Series Dynamic Walking Biped Ayonga Hereid Omar Harib R. Hartley Yukai Gong J. Grizzle 47 43 0 17 Jul 2018
Capturability-based Pattern Generation for Walking with Variable Height Stéphane Caron Adrien Escande L. Lanari Bastien Mallein 54 60 0 22 Jan 2018
Footstep and Motion Planning in Semi-unstructured Environments Using Randomized Possibility Graphs Michael X. Grey Aaron D. Ames Chenxi Liu 36 33 0 01 Oct 2016
ZMP support areas for multi-contact mobility under frictional constraints Stéphane Caron Quang Pham Yoshihiko Nakamura 46 125 0 12 Oct 2015
An Efficiently Solvable Quadratic Program for Stabilizing Dynamic Locomotion S. Kuindersma Frank Permenter Russ Tedrake 61 243 0 07 Nov 2013