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07/31/2023
Overtaking Moving Obstacles with Digit: Path Following for Bipedal Robots via Model Predictive Contouring Control
Humanoid robots are expected to navigate in changing environments and pe...
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03/28/2023
Reactive Gait Composition with Stability: Dynamic Walking amidst Static and Moving Obstacles
This paper presents a modular approach to motion planning with provable ...
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04/30/2022
A Sequential MPC Approach to Reactive Planning for Bipedal Robots
This paper presents a sequential Model Predictive Control (MPC) approach...
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03/14/2022
Robust Dynamic Walking for a 3D Dual-SLIP Model under One-Step Unilateral Stiffness Perturbations: Towards Bipedal Locomotion over Compliant Terrain
Bipedal walking is one of the most important hallmarks of human that rob...
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09/28/2021
Interactive Dynamic Walking: Learning Gait Switching Policies with Generalization Guarantees
In this paper, we consider the problem of adapting a dynamically walking...
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10/01/2018
