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cs.RO2023
Overtaking Moving Obstacles with Digit: Path Following for Bipedal Robots via Model Predictive Contouring Control
Kunal S. Narkhede, Dhruv A. Thanki, Abhijeet M. Kulkarni +1
Humanoid robots are expected to navigate in changing environments and perform a variety of tasks. Frequently, these tasks require the robot to make decisions online regarding the s…
cs.RO2023
Reactive Gait Composition with Stability: Dynamic Walking amidst Static and Moving Obstacles
Kunal Sanjay Narkhede, Mohamad Shafiee Motahar, Sushant Veer +1
This paper presents a modular approach to motion planning with provable stability guarantees for robots that move through changing environments via periodic locomotion behaviors. W…