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Velocity Regulation of 3D Bipedal Walking Robots with Uncertain Dynamics Through Adaptive Neural Network Controller

Aug 02, 2020
Guillermo A. Castillo, Bowen Weng, Terrence C. Stewart, Wei Zhang, Ayonga Hereid

* "Accepted at 2020 International Conference on Intelligent Robots and Systems (IROS 2020). Supplemental Video: https://youtu.be/DAHk9-GFS0k

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Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learning

Oct 03, 2019
Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid

* Supplemental video: https://youtu.be/GOT6bnxqwuU 

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Rapid Trajectory Optimization Using C-FROST with Illustration on a Cassie-Series Dynamic Walking Biped

Mar 15, 2019
Ayonga Hereid, Omar Harib, Ross Hartley, Yukai Gong, Jessy W. Grizzle


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Reinforcement Learning Meets Hybrid Zero Dynamics: A Case Study for RABBIT

Oct 03, 2018
Guillermo A. Castillo, Bowen Weng, Ayonga Hereid, Wei Zhang

* Supplemental video: https://www.youtube.com/watch?v=dhHMfnl7YlU 

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Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway

Sep 19, 2018
Yukai Gong, Ross Hartley, Xingye Da, Ayonga Hereid, Omar Harib, Jiunn-Kai Huang, Jessy Grizzle

* Associated software will be made open source when paper review is completed 

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Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking

May 21, 2018
Omar Harib, Ayonga Hereid, Ayush Agrawal, Thomas Gurriet, Sylvain Finet, Guilhem Boeris, Alexis Duburcq, M. Eva Mungai, Matthieu Masselin, Aaron D. Ames, Koushil Sreenath, Jessy Grizzle

* Submitted to IEEE Control System Magazine. This version addresses reviewers' concerns about the robustness of the algorithm and the motivation for using such exoskeletons 

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