45 citations · 58 across the 2 of their papers we have counts for
Showing cs.ROShow all
2 papers · 1 filter
cs.RO2023★ 13 cited
Stair Climbing using the Angular Momentum Linear Inverted Pendulum Model and Model Predictive Control
Oluwami Dosunmu-Ogunbi, Aayushi Shrivastava, Grant Gibson +1
A new control paradigm using angular momentum and foot placement as state variables in the linear inverted pendulum model has expanded the realm of possibilities for the control of…
cs.RO2021★ 45 cited
Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller via Model Predictive Control and Virtual Constraints
Grant Gibson, Oluwami Dosunmu-Ogunbi, Yukai Gong +1
This paper presents a gait controller for bipedal robots to achieve highly agile walking over various terrains given local slope and friction cone information. Without these consid…