4 citations · 10 across the 7 of their papers we have counts for
8 papers
Preference-Based Learning for User-Guided HZD Gait Generation on Bipedal Walking Robots
Maegan Tucker, Noel Csomay-Shanklin, Wen-Loong Ma +1
This paper presents a framework that leverages both control theory and machine learning to obtain stable and robust bipedal locomotion without the need for manual parameter tuning.…
Coupled Control Systems: Periodic Orbit Generation with Application to Quadrupedal Locomotion
Wen-Loong Ma, Noel Csomay-Shanklin, Aaron D. Ames
A robotic system can be viewed as a collection of lower-dimensional systems that are coupled via reaction forces (Lagrange multipliers) enforcing holonomic constraints. Inspired by…
First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach
Wen-Loong Ma, Kaveh Akbari Hamed, Aaron D. Ames
The hybrid zero dynamics (HZD) approach has become a powerful tool for the gait planning and control of bipedal robots. This paper aims to extend the HZD methods to address walking…
From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation
Wen-Loong Ma, Aaron D Ames
This paper systematically decomposes a quadrupedal robot into bipeds to rapidly generate walking gaits and then recomposes these gaits to obtain quadrupedal locomotion. We begin by…
Dynamic Walking with Compliance on a Cassie Bipedal Robot
Jacob Reher, Wen-Loong Ma, Aaron D. Ames
The control of bipedal robotic walking remains a challenging problem in the domains of computation and experiment, due to the multi-body dynamics and various sources of uncertainty…
Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach
Kaveh Akbari Hamed, Vinay R. Kamidi, Wen-Loong Ma +2
This paper presents a hierarchical control strategy based on hybrid systems theory, nonlinear control, and safety-critical systems to enable cooperative locomotion of robotic guide…
Distributed Feedback Controllers for Stable Cooperative Locomotion of Quadrupedal Robots: A Virtual Constraint Approach
Kaveh Akbari Hamed, Vinay R. Kamidi, Abhishek Pandala +2
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints.…
Dynamic Walking on Slippery Surfaces: Demonstrating Stable Bipedal Gaits with Planned Ground Slippage
Wen-Loong Ma, Yizhar Or, Aaron D. Ames
Dynamic bipedal robot locomotion has achieved remarkable success due in part to recent advances in trajectory generation and nonlinear control for stabilization. A key assumption u…