2 papers
cs.RO2024
Multi-Momentum Observer Contact Estimation for Bipedal Robots
J. Joe Payne, Daniel A. Hagen, Denis Garagić +1
As bipedal robots become more and more popular in commercial and industrial settings, the ability to control them with a high degree of reliability is critical. To that end, this p…
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…