2 papers
cs.RO2024
Adaptive Ankle Torque Control for Bipedal Humanoid Walking on Surfaces with Unknown Horizontal and Vertical Motion
Jacob Stewart, I-Chia Chang, Yan Gu +1
Achieving stable bipedal walking on surfaces with unknown motion remains a challenging control problem due to the hybrid, time-varying, partially unknown dynamics of the robot and…
cs.RO2024
HT-LIP Model based Robust Control of Quadrupedal Robot Locomotion under Unknown Vertical Ground Motion
Amir Iqbal, Sushant Veer, Christopher Niezrecki +1
This paper presents a hierarchical control framework that enables robust quadrupedal locomotion on a dynamic rigid surface (DRS) with general and unknown vertical motions. The key…