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Terrain-Aware Foot Placement for Bipedal Locomotion Combining Model Predictive Control, Virtual Constraints, and the ALIP


Sep 30, 2021
Grant Gibson, Oluwami Dosunmu-Ogunbi, Yukai Gong, Jessy Grizzle

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Zero Dynamics, Pendulum Models, and Angular Momentum in Feedback Control of Bipedal Locomotion


May 17, 2021
Yukai Gong, Jessy Grizzle

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* 20 pages, 14 figures. arXiv admin note: text overlap with arXiv:2008.10763 

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Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-based Controller


Aug 25, 2020
Yukai Gong, Jessy Grizzle

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* 10 pages, 11 figures 

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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

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* 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

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* 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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Self-synchronization and Self-stabilization of 3D Bipedal Walking Gaits


Jul 07, 2017
Christine Chevallereau, Hamed Razavi, Damien Six, Yannick Aoustin, Jessy Grizzle

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