4 papers
Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots
Adrian B. Ghansah, Sergio A. Esteban, Aaron D. Ames
As humanoid robots enter real-world environments, ensuring robust locomotion across diverse environments is crucial. This paper presents a computationally efficient hierarchical co…
A Layered Control Perspective on Legged Locomotion: Embedding Reduced Order Models via Hybrid Zero Dynamics
Sergio A. Esteban, Max H. Cohen, Adrian B. Ghansah +1
Reduced-order models (ROMs) provide a powerful means of synthesizing dynamic walking gaits on legged robots. Yet this approach lacks the formal guarantees enjoyed by methods that u…
Dynamic Walking on Highly Underactuated Point Foot Humanoids: Closing the Loop between HZD and HLIP
Adrian B. Ghansah, Jeeseop Kim, Kejun Li +1
Realizing bipedal locomotion on humanoid robots with point feet is especially challenging due to their highly underactuated nature, high degrees of freedom, and hybrid dynamics res…
Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics
Adrian B. Ghansah, Jeeseop Kim, Maegan Tucker +1
Selecting robot design parameters can be challenging since these parameters are often coupled with the performance of the controller and, therefore, the resulting capabilities of t…