94 citations · 100 across the 9 of their papers we have counts for
Showing 2019Show all
3 papers · 1 filter
eess.SY2019★ 94 cited
Learning for Safety-Critical Control with Control Barrier Functions
Andrew Taylor, Andrew Singletary, Yisong Yue +1
Modern nonlinear control theory seeks to endow systems with properties of stability and safety, and have been deployed successfully in multiple domains. Despite this success, model…
cs.RO2019★ 1 cited
Motion Decoupling and Composition via Reduced Order Model Optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control
Xiaobin Xiong, Aaron Ames
In this paper, 3D humanoid walking is decoupled into periodic and transitional motion, each of which is decoupled into planar walking in the sagittal and lateral plane. Reduced ord…
cs.RO2019★ 3 cited
Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model
Xiaobin Xiong, Aaron Ames
A Hybrid passive Linear Inverted Pendulum (HLIP) model is proposed for characterizing, stabilizing and composing periodic orbits for 3D underactuated bipedal walking. Specifically,…