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cs.RO2025
RoMoCo: Robotic Motion Control Toolbox for Reduced-Order Model-Based Locomotion on Bipedal and Humanoid Robots
Min Dai, Aaron D. Ames
We present RoMoCo, an open-source C++ toolbox for the synthesis and evaluation of reduced-order model-based planners and whole-body controllers for bipedal and humanoid robots. RoM…
cs.RO2025
Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control
Min Dai, Aaron D. Ames
In this paper, we present a novel control framework to achieve robust push recovery on bipedal robots while locomoting. The key contribution is the unification of hybrid system mod…