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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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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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