9 citations · 10 across the 4 of their papers we have counts for
6 papers
A Compositional Perspective on Communication-Control Co-Design for Mobile Broadband Systems Beyond 6G
Angelo Vera-Rivera, Atefeh Termehchi, Ekram Hossain
Anticipated applications of beyond sixth-generation (B6G) mobile broadband networks will require the co-design of communication and control subsystems within the network architectu…
ZEST: Zero-shot Embodied Skill Transfer for Athletic Robot Control
Jean Pierre Sleiman, He Li, Alphonsus Adu-Bredu +25
Achieving robust, human-like whole-body control on humanoid robots for agile, contact-rich behaviors remains a central challenge, demanding heavy per-skill engineering and a brittl…
Standing Tall: Sim to Real Fall Classification and Lead Time Prediction for Bipedal Robots
Gokul Prabhakaran, Jessy W. Grizzle, M. Eva Mungai
This paper extends a previously proposed fall prediction algorithm to a real-time (online) setting, with implementations in both hardware and simulation. The system is validated on…
Fall Prediction for Bipedal Robots: The Standing Phase
M. Eva Mungai, Gokul Prabhakaran, Jessy W. Grizzle
This paper presents a novel approach to fall prediction for bipedal robots, specifically targeting the detection of potential falls while standing caused by abrupt, incipient, and…
Optimizing Lead Time in Fall Detection for a Planar Bipedal Robot
M. Eva Mungai, Jessy Grizzle
For legged robots to operate in complex terrains, they must be robust to the disturbances and uncertainties they encounter. This paper contributes to enhancing robustness through t…
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…