83 citations · 230 across the 13 of their papers we have counts for
14 papers
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…
Distributed Event-Triggered Leader-Follower Consensus of Nonlinear Multi-Agent Systems
Mathieu Marchand, Vincent Andrieu, Sylvain Bertrand +1
We consider the distributed leader-follower consensus problem with event-triggered communications. The system under consideration is a non-linear input-affine multi agent system. T…
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…
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…