97 citations
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5 papers · 1 filter
Straight-Leg Walking Through Underconstrained Whole-Body Control
Robert J. Griffin, Georg Wiedebach, Sylvain Bertrand +2
We present an approach for achieving a natural, efficient gait on bipedal robots using straightened legs and toe-off. Our algorithm avoids complex height planning by allowing a who…
Capture Point Trajectories for Reduced Knee Bend using Step Time Optimization
Robert J. Griffin, Sylvain Bertrand, Georg Wiedebach +2
Traditional force-controlled bipedal walking utilizes highly bent knees, resulting in high torques as well as inefficient, and unnatural motions. Even with advanced planning of cen…
Adposition and Case Supersenses v2.6: Guidelines for English
Nathan Schneider, Jena D. Hwang, Vivek Srikumar +8
This document offers a detailed linguistic description of SNACS (Semantic Network of Adposition and Case Supersenses; Schneider et al., 2018), an inventory of 52 semantic labels ("…
Walking Stabilization Using Step Timing and Location Adjustment on the Humanoid Robot, Atlas
Robert J. Griffin, Georg Wiedebach, Sylvain Bertrand +2
While humans are highly capable of recovering from external disturbances and uncertainties that result in large tracking errors, humanoid robots have yet to reliably mimic this lev…
Stepping Forward with Exoskeletons: Team IHMC's Design and Approach in the 2016 Cybathlon
Robert Griffin, Tyson Cobb, Travis Craig +8
Exoskeletons are a promising technology that enables individuals with mobility limitations to walk again. As the 2016 Cybathlon illustrated, however, the community has a considerab…