10 citations · 20 across the 15 of their papers we have counts for
3 papers · 1 filter
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…
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.…