4 papers
Time-Varying Foot-Placement Control for Underactuated Humanoid Walking on Swaying Rigid Surfaces
Yuan Gao, Victor Paredes, Yukai Gong +3
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying hum…
Unified Path and Gait Planning for Safe Bipedal Robot Navigation
Chengyang Peng, Victor Paredes, Ayonga Hereid
Safe path and gait planning are essential for bipedal robots to navigate complex real-world environments. The prevailing approaches often plan the path and gait separately in a hie…
Safe Whole-Body Task Space Control for Humanoid Robots
Victor Paredes, Ayonga Hereid
Complex robotic systems require whole-body controllers to deal with contact interactions, handle closed kinematic chains, and track task-space control objectives. However, for many…
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…