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08/28/2023
Towards Standardized Disturbance Rejection Testing of Legged Robot Locomotion with Linear Impactor: A Preliminary Study, Observations, and Implications
Dynamic locomotion in legged robots is close to industrial collaboration...
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10/24/2022
Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robot Walking on a Swaying Rigid Surface
Controller design for bipedal walking on dynamic rigid surfaces (DRSes),...
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10/07/2022
Safe Path Planning for Polynomial Shape Obstacles via Control Barrier Functions and Logistic Regression
Safe path planning is critical for bipedal robots to operate in safety-c...
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10/07/2022
Real-Time Navigation for Bipedal Robots in Dynamic Environments
The popularity of mobile robots has been steadily growing, with these ro...
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09/20/2022
Rethink the Adversarial Scenario-based Safety Testing of Robots: the Comparability and Optimal Aggressiveness
This paper studies the class of scenario-based safety testing algorithms...
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08/02/2022
Resolved Motion Control for 3D Underactuated Bipedal Walking using Linear Inverted Pendulum Dynamics and Neural Adaptation
We present a framework to generate periodic trajectory references for a ...
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04/16/2022
On Safety Testing, Validation, and Characterization with Scenario-Sampling: A Case Study of Legged Robots
The dynamic response of the legged robot locomotion is non-Lipschitz and...
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09/26/2021
Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains
In this work, we demonstrate robust walking in the bipedal robot Digit o...
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04/04/2021
Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes
In this paper, with a view toward deployment of light-weight control fra...
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03/29/2021
Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Digit Bipedal Robot
In this paper, a hierarchical and robust framework for learning bipedal ...
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08/02/2020
Velocity Regulation of 3D Bipedal Walking Robots with Uncertain Dynamics Through Adaptive Neural Network Controller
This paper presents a neural-network based adaptive feedback control str...
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10/03/2019
Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learning
This paper presents a novel model-free reinforcement learning (RL) frame...
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10/03/2018
Reinforcement Learning Meets Hybrid Zero Dynamics: A Case Study for RABBIT
The design of feedback controllers for bipedal robots is challenging due...
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09/19/2018
Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway
The Cassie bipedal robot designed by Agility Robotics is providing acade...
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07/17/2018
Rapid Bipedal Gait Design Using C-FROST with Illustration on a Cassie-series Robot
One of the big attractions of low-dimensional models for gait design has...
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02/22/2018