activity
20232025
most citedBracing for Impact: Robust Humanoid Push Recovery and Locomotion with Reduced Order Models

1 citations · 1 across the 6 of their papers we have counts for

collaborators
Showing eess.SYShow all

1 paper · 1 filter

eess.SY2025

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…