A unified framework for walking and running of bipedal robots

A unified framework for walking and running of bipedal robots

18 October 2021

Mahrokh Ghoddousi Boroujeni

Ludovic Righetti

Papers citing "A unified framework for walking and running of bipedal robots"

10 / 10 papers shown

Title
Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent Paarth Shah Avadesh Meduri W. Merkt Majid Khadiv Ioannis Havoutis Ludovic Righetti 51 7 0 04 Aug 2021
Control Lyapunov Functions for Compliant Hybrid Zero Dynamic Walking Jenna Reher Aaron D. Ames 64 12 0 09 Jul 2021
A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation Jean-Pierre Sleiman Farbod Farshidian M. Minniti Marco Hutter 70 181 0 01 Mar 2021
Fast Online Planning for Bipedal Locomotion via Centroidal Model Predictive Gait Synthesis Yijie Guo Mingwei Zhang Hao Dong Mingguo Zhao 36 13 0 08 Feb 2021
Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics Brahayam Pontón Majid Khadiv Avadesh Meduri Ludovic Righetti 47 60 0 02 Oct 2020
An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research F. Grimminger Avadesh Meduri Majid Khadiv Julian Viereck Manuel Wüthrich ... Felix Widmaier Thomas Flayols J. Fiene Alexander Badri-Spröwitz Ludovic Righetti 52 207 0 30 Sep 2019
Optimal Reduced-order Modeling of Bipedal Locomotion Yu-Ming Chen Michael Posa 26 32 0 23 Sep 2019
Walking Control Based on Step Timing Adaptation Majid Khadiv Alexander Herzog S. A. A. Moosavian Ludovic Righetti 58 72 0 05 Apr 2017
Step Timing Adjustment: A Step toward Generating Robust Gaits Majid Khadiv Alexander Herzog A. Moosavian Ludovic Righetti 57 70 0 07 Oct 2016
Structured contact force optimization for kino-dynamic motion generation Alexander Herzog S. Schaal Ludovic Righetti 57 83 0 27 May 2016

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