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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


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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

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

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Toward Safety-Aware Informative Motion Planning for Legged Robots


Mar 26, 2021
Sangli Teng, Yukai Gong, Jessy W. Grizzle, Maani Ghaffari

* 11 pages 

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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

* 10 pages, 11 figures 

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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

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

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