3 papers
cs.RO2024
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…
cs.RO2024
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…
cs.RO2024
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…