4 citations · 10 across the 7 of their papers we have counts for
5 papers · 1 filter
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.…
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…
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…