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