83 citations · 285 across the 17 of their papers we have counts for
18 papers
The Surprising Effectiveness of Linear Models for Whole-Body Model-Predictive Control
Arun L. Bishop, Juan Alvarez-Padilla, Sam Schoedel +8
When do locomotion controllers require reasoning about nonlinearities? In this work, we show that a whole-body model-predictive controller using a simple linear time-invariant appr…
Angular Divergent Component of Motion: A step towards planning Spatial DCM Objectives for Legged Robots
Connor W. Herron, Robert Schuller, Benjamin C. Beiter +3
In this work, the Divergent Component of Motion (DCM) method is expanded to include angular coordinates for the first time. This work introduces the idea of spatial DCM, which adds…
Efficient, Dynamic Locomotion through Step Placement with Straight Legs and Rolling Contacts
Stefan Fasano, James Foster, Sylvain Bertrand +2
For humans, fast, efficient walking over flat ground represents the vast majority of locomotion that an individual experiences on a daily basis, and for an effective, real-world hu…
Reachability Aware Capture Regions with Time Adjustment and Cross-Over for Step Recovery
Robert Griffin, James Foster, Stefan Fasano +2
For humanoid robots to live up to their potential utility, they must be able to robustly recover from instabilities. In this work, we propose a number of balance enhancements to en…
Generating Humanoid Multi-Contact through Feasibility Visualization
Stephen McCrory, Sylvain Bertrand, Achintya Mohan +3
We present a feasibility-driven teleoperation framework designed to generate humanoid multi-contact maneuvers for use in unstructured environments. Our framework is designed for mo…
Integrable Whole-body Orientation Coordinates for Legged Robots
Yu-Ming Chen, Gabriel Nelson, Robert Griffin +2
Complex multibody legged robots can have complex rotational control challenges. In this paper, we propose a concise way to understand and formulate a \emph{whole-body orientation}…
Proprioceptive State Estimation of Legged Robots with Kinematic Chain Modeling
Varun Agrawal, Sylvain Bertrand, Robert Griffin +1
Legged robot locomotion is a challenging task due to a myriad of sub-problems, such as the hybrid dynamics of foot contact and the effects of the desired gait on the terrain. Accur…
A Fast, Autonomous, Bipedal Walking Behavior over Rapid Regions
Duncan Calvert, Bhavyansh Mishra, Stephen McCrory +3
In trying to build humanoid robots that perform useful tasks in a world built for humans, we address the problem of autonomous locomotion. Humanoid robot planning and control algor…
Humanoid Path Planning over Rough Terrain using Traversability Assessment
Stephen McCrory, Bhavyansh Mishra, Jaehoon An +3
We present a planning framework designed for humanoid navigation over challenging terrain. This framework is designed to plan a traversable, smooth, and collision-free path using a…
Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas
Stefano Dafarra, Sylvain Bertrand, Robert J. Griffin +3
Performing large step-ups is a challenging task for a humanoid robot. It requires the robot to perform motions at the limit of its reachable workspace while straining to move its b…
0-Step Capturability, Motion Decomposition and Global Feedback Control of the 3D Variable Height-Inverted Pendulum
Gabriel Garcia, Robert Griffin, Jerry Pratt
One common method for stabilizing robots after a push is the Instantaneous Capture Point, however, this has the fundamental limitation of assuming constant height. Although there a…
Deploying the NASA Valkyrie Humanoid for IED Response: An Initial Approach and Evaluation Summary
Steven Jens Jorgensen, Michael W. Lanighan, Sylvain S. Bertrand +19
As part of a feasibility study, this paper shows the NASA Valkyrie humanoid robot performing an end-to-end improvised explosive device (IED) response task. To demonstrate and evalu…
Footstep Planning for Autonomous Walking Over Rough Terrain
Robert J. Griffin, Georg Wiedebach, Stephen McCrory +3
To increase the speed of operation and reduce operator burden, humanoid robots must be able to function autonomously, even in complex, cluttered environments. For this to be possib…
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…
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…
Walking on Partial Footholds Including Line Contacts with the Humanoid Robot Atlas
Georg Wiedebach, Sylvain Bertrand, Tingfan Wu +5
We present a method for humanoid robot walking on partial footholds such as small stepping stones and rocks with sharp surfaces. Our algorithm does not rely on prior knowledge of t…