5 citations · 8 across the 5 of their papers we have counts for
7 papers · 1 filter
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…
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…