Time-Varying ALIP Model and Robust Foot-Placement Control for
Underactuated Bipedal Robot Walking on a Swaying Rigid Surface

Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robot Walking on a Swaying Rigid Surface

24 October 2022

Yuan Gao

Yukai Gong

Papers citing "Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robot Walking on a Swaying Rigid Surface"

13 / 13 papers shown

Title
Adaptive Ankle Torque Control for Bipedal Humanoid Walking on Surfaces with Unknown Horizontal and Vertical Motion Jacob Stewart I-Chia Chang Yan Gu Petros A. Ioannou 21 0 0 15 Oct 2024
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 31 0 0 12 Sep 2024
An Adaptive Framework for Manipulator Skill Reproduction in Dynamic Environments Ryan Donald Brendan Hertel Stephen Misenti Yan Gu Reza Azadeh 28 1 0 24 May 2024
Contingency Model Predictive Control for Bipedal Locomotion on Moving Surfaces with a Linear Inverted Pendulum Model Kuo Chen Xinyan Huang Xunjie Chen Jingang Yi 18 1 0 18 Apr 2024
Unified Path and Gait Planning for Safe Bipedal Robot Navigation Chengyang Peng Victor Paredes Ayonga Hereid 46 1 0 26 Mar 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
Legged Robot State Estimation within Non-inertial Environments Zijian He Sangli Teng Tzu-Yuan Lin Maani Ghaffari Yan Gu 35 4 0 24 Mar 2024
Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control He Li Patrick M. Wensing 47 13 0 06 Mar 2024
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 32 1 0 27 Apr 2023
Real-World Humanoid Locomotion with Reinforcement Learning Ilija Radosavovic Tete Xiao Bike Zhang Trevor Darrell Jitendra Malik Koushil Sreenath 32 124 0 06 Mar 2023
DRS-LIP: Linear Inverted Pendulum Model for Legged Locomotion on Dynamic Rigid Surfaces A. Iqbal Sushant Veer Yan Gu 26 6 0 31 Jan 2022
Invariant Filtering for Legged Humanoid Locomotion on Dynamic Rigid Surfaces Yuan Gao C. Yuan Yan Gu 39 19 0 25 Jan 2022