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Noel Csomay-Shanklin

Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors

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Sep 27, 2022
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Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization

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Sep 21, 2022
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Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies

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Apr 18, 2022
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Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics

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Mar 14, 2022
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Interactive multi-modal motion planning with Branch Model Predictive Control

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Sep 18, 2021
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Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots

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Jun 18, 2021
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Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety

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May 04, 2021
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Learning Controller Gains on Bipedal Walking Robots via User Preferences

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Feb 25, 2021
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Preference-Based Learning for User-Guided HZD Gait Generation on Bipedal Walking Robots

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Nov 10, 2020
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