83 citations · 236 across the 13 of their papers we have counts for
3 papers · 1 filter
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…