Get our free extension to see links to code for papers anywhere online!

Chrome logo  Add to Chrome

Firefox logo Add to Firefox

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


Oct 24, 2022
Yuan Gao, Yukai Gong, Victor Paredes, Ayonga Hereid, Yan Gu

Add code


   Access Paper or Ask Questions

  • Share via Twitter
  • Share via Facebook
  • Share via LinkedIn
  • Share via Whatsapp
  • Share via Messenger
  • Share via Email

Safe Path Planning for Polynomial Shape Obstacles via Control Barrier Functions and Logistic Regression


Oct 07, 2022
Chengyang Peng, Octavian Donca, Ayonga Hereid

Add code

* 7 pages, 8 figures. Supplemental Video: https://youtu.be/r_hkuK5cMw4 

   Access Paper or Ask Questions

  • Share via Twitter
  • Share via Facebook
  • Share via LinkedIn
  • Share via Whatsapp
  • Share via Messenger
  • Share via Email

Real-Time Navigation for Bipedal Robots in Dynamic Environments


Oct 07, 2022
Octavian A. Donca, Chayapol Beokhaimook, Ayonga Hereid

Add code

* Submitted to 2023 IEEE International Conference on Robotics and Automation (ICRA). For associated experiment recordings see https://www.youtube.com/watch?v=WzHejHx-Kzs 

   Access Paper or Ask Questions

  • Share via Twitter
  • Share via Facebook
  • Share via LinkedIn
  • Share via Whatsapp
  • Share via Messenger
  • Share via Email

Rethink the Adversarial Scenario-based Safety Testing of Robots: the Comparability and Optimal Aggressiveness


Sep 20, 2022
Bowen Weng, Guillermo A. Castillo, Wei Zhang, Ayonga Hereid

Add code


   Access Paper or Ask Questions

  • Share via Twitter
  • Share via Facebook
  • Share via LinkedIn
  • Share via Whatsapp
  • Share via Messenger
  • Share via Email

Resolved Motion Control for 3D Underactuated Bipedal Walking using Linear Inverted Pendulum Dynamics and Neural Adaptation


Aug 02, 2022
Victor Paredes, Ayonga Hereid

Add code

* 7 pages, to appear in IROS 2022 

   Access Paper or Ask Questions

  • Share via Twitter
  • Share via Facebook
  • Share via LinkedIn
  • Share via Whatsapp
  • Share via Messenger
  • Share via Email

On Safety Testing, Validation, and Characterization with Scenario-Sampling: A Case Study of Legged Robots


Apr 16, 2022
Bowen Weng, Guillermo A. Castillo, Wei Zhang, Ayonga Hereid

Add code


   Access Paper or Ask Questions

  • Share via Twitter
  • Share via Facebook
  • Share via LinkedIn
  • Share via Whatsapp
  • Share via Messenger
  • Share via Email

Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains


Oct 05, 2021
Lokesh Krishna, Guillermo A. Castillo, Utkarsh A. Mishra, Ayonga Hereid, Shishir Kolathaya

Add code

* 8 pages, 10 Figures 

   Access Paper or Ask Questions

  • Share via Twitter
  • Share via Facebook
  • Share via LinkedIn
  • Share via Whatsapp
  • Share via Messenger
  • Share via Email

Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes


Apr 04, 2021
Lokesh Krishna, Utkarsh A. Mishra, Guillermo A. Castillo, Ayonga Hereid, Shishir Kolathaya

Add code

* 7 pages, 7 figures 

   Access Paper or Ask Questions

  • Share via Twitter
  • Share via Facebook
  • Share via LinkedIn
  • Share via Whatsapp
  • Share via Messenger
  • Share via Email

Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Digit Bipedal Robot


Mar 29, 2021
Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid

Add code

* "Supplemental video: https://www.youtube.com/watch?v=j8KbW-a9dbw

   Access Paper or Ask Questions

  • Share via Twitter
  • Share via Facebook
  • Share via LinkedIn
  • Share via Whatsapp
  • Share via Messenger
  • Share via Email
1
2
>>