2 papers
cs.RO2025
Stable and Robust SLIP Model Control via Energy Conservation-Based Feedback Cancellation for Quadrupedal Applications
Muhammad Saud Ul Hassan, Derek Vasquez, Hamza Asif +1
In this paper, we present an energy-conservation based control architecture for stable dynamic motion in quadruped robots. We model the robot as a Spring-loaded Inverted Pendulum (…
cs.RO2023
Single-Stage Optimization of Open-loop Stable Limit Cycles with Smooth, Symbolic Derivatives
Muhammad Saud Ul Hassan, Christian Hubicki
Open-loop stable limit cycles are foundational to legged robotics, providing inherent self-stabilization that minimizes the need for computationally intensive feedback-based gait c…