3 papers
cs.RO2018
Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway
Yukai Gong, Ross Hartley, Xingye Da +4
The Cassie bipedal robot designed by Agility Robotics is providing academics a common platform for sharing and comparing algorithms for locomotion, perception, and navigation. This…
cs.RO2018
Rapid Trajectory Optimization Using C-FROST with Illustration on a Cassie-Series Dynamic Walking Biped
Ayonga Hereid, Omar Harib, Ross Hartley +2
One of the big attractions of low-dimensional models for gait design has been the ability to compute solutions rapidly, whereas one of their drawbacks has been the difficulty in ma…
cs.RO2018
Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking
Omar Harib, Ayonga Hereid, Ayush Agrawal +9
This manuscript presents control of a high-DOF fully actuated lower-limb exoskeleton for paraplegic individuals. The key novelty is the ability for the user to walk without the use…