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cs.RO2026
Adaptive Rejection of Unknown Hybrid Sinusoidal Disturbances with Application to Humanoid Walking under Unknown Ground Motion
I-Chia Chang, Jacob Stewart, Petros A. Ioannou +1
Legged robot control is not yet practical in non-inertial environments, where the ground and surroundings accelerate in the inertial Earth frame, mainly because of the unknown, tim…
cs.RO2024
Adaptive Ankle Torque Control for Bipedal Humanoid Walking on Surfaces with Unknown Horizontal and Vertical Motion
Jacob Stewart, I-Chia Chang, Yan Gu +1
Achieving stable bipedal walking on surfaces with unknown motion remains a challenging control problem due to the hybrid, time-varying, partially unknown dynamics of the robot and…
cs.RO2024
HT-LIP Model based Robust Control of Quadrupedal Robot Locomotion under Unknown Vertical Ground Motion
Amir Iqbal, Sushant Veer, Christopher Niezrecki +1
This paper presents a hierarchical control framework that enables robust quadrupedal locomotion on a dynamic rigid surface (DRS) with general and unknown vertical motions. The key…