2 citations · 2 across the 6 of their papers we have counts for
7 papers
Model-Informed Safe Reinforcement Learning for Bipedal Locomotion via Step-to-Step Prediction
Victor Paredes, Ayonga Hereid
Humanoid robots promise versatile mobility in cluttered, human-centric environments, but real deployment demands principled safety. Classical model-based gait generators yield inte…
Real-Time Safe Bipedal Robot Navigation using Linear Discrete Control Barrier Functions
Chengyang Peng, Victor Paredes, Guillermo A. Castillo +1
Safe navigation in real-time is an essential task for humanoid robots in real-world deployment. Since humanoid robots are inherently underactuated thanks to unilateral ground conta…
Time-Varying Foot-Placement Control for Underactuated Humanoid Walking on Swaying Rigid Surfaces
Yuan Gao, Victor Paredes, Yukai Gong +3
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying hum…
Moving past point-contacts: Extending the ALIP model to humanoids with non-trivial feet using hierarchical, full-body momentum control
Victor C. Paredes, Daniel A. Hagen, Samuel W. Chesebrough +3
The Angular-Momentum Linear Inverted Pendulum (ALIP) model is a promising motion planner for bipedal robots. However, it relies on two assumptions: (1) the robot has point-contact…
Unified Path and Gait Planning for Safe Bipedal Robot Navigation
Chengyang Peng, Victor Paredes, Ayonga Hereid
Safe path and gait planning are essential for bipedal robots to navigate complex real-world environments. The prevailing approaches often plan the path and gait separately in a hie…
Adaptive Step Duration for Accurate Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds
Zhaoyang Xiang, Victor Paredes, Guillermo A. Castillo +1
Traditional one-step preview planning algorithms for bipedal locomotion struggle to generate viable gaits when walking across terrains with restricted footholds, such as stepping s…
Safe Whole-Body Task Space Control for Humanoid Robots
Victor Paredes, Ayonga Hereid
Complex robotic systems require whole-body controllers to deal with contact interactions, handle closed kinematic chains, and track task-space control objectives. However, for many…