12 citations · 37 across the 29 of their papers we have counts for
6 papers · 1 filter
Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robot Walking on a Swaying Rigid Surface
Yuan Gao, Yukai Gong, Victor Paredes +2
Controller design for bipedal walking on dynamic rigid surfaces (DRSes), which are rigid surfaces moving in the inertial frame (e.g., ships and airplanes), remains largely uninvest…
Safe Path Planning for Polynomial Shape Obstacles via Control Barrier Functions and Logistic Regression
Chengyang Peng, Octavian Donca, Ayonga Hereid
Safe path planning is critical for bipedal robots to operate in safety-critical environments. Common path planning algorithms, such as RRT or RRT*, typically use geometric or kinem…
Real-Time Navigation for Bipedal Robots in Dynamic Environments
Octavian A. Donca, Chayapol Beokhaimook, Ayonga Hereid
The popularity of mobile robots has been steadily growing, with these robots being increasingly utilized to execute tasks previously completed by human workers. For bipedal robots…
On the Adversarial Scenario-based Safety Testing of Robots: the Comparability and Optimal Aggressiveness
Bowen Weng, Guillermo A. Castillo, Wei Zhang +1
This paper studies the class of scenario-based safety testing algorithms in the black-box safety testing configuration. For algorithms sharing the same state-action set coverage wi…
Resolved Motion Control for 3D Underactuated Bipedal Walking using Linear Inverted Pendulum Dynamics and Neural Adaptation
Victor Paredes, Ayonga Hereid
We present a framework to generate periodic trajectory references for a 3D under-actuated bipedal robot, using a linear inverted pendulum (LIP) based controller with adaptive neura…
On Safety Testing, Validation, and Characterization with Scenario-Sampling: A Case Study of Legged Robots
Bowen Weng, Guillermo A. Castillo, Wei Zhang +1
The dynamic response of the legged robot locomotion is non-Lipschitz and can be stochastic due to environmental uncertainties. To test, validate, and characterize the safety perfor…