8 citations · 20 across the 16 of their papers we have counts for
3 papers · 1 filter
Real-Time Safe Bipedal Robot Navigation using Linear Discrete Control Barrier Functions
Chengyang Peng, Victor Paredes, Guillermo A. Castillo +1
Safe navigation in real-time is an essential task for humanoid robots in real-world deployment. Since humanoid robots are inherently underactuated thanks to unilateral ground conta…
Repeatable and Reliable Efforts of Accelerated Risk Assessment in Robot Testing
Linda Capito, Guillermo A. Castillo, Bowen Weng
Risk assessment of a robot in controlled environments, such as laboratories and proving grounds, is a common means to assess, certify, validate, verify, and characterize the robots…
Adaptive Step Duration for Accurate Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds
Zhaoyang Xiang, Victor Paredes, Guillermo A. Castillo +1
Traditional one-step preview planning algorithms for bipedal locomotion struggle to generate viable gaits when walking across terrains with restricted footholds, such as stepping s…