45 citations · 58 across the 3 of their papers we have counts for
3 papers
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…
Exploring Kinodynamic Fabrics for Reactive Whole-Body Control of Underactuated Humanoid Robots
Alphonsus Adu-Bredu, Grant Gibson, Jessy W. Grizzle
For bipedal humanoid robots to successfully operate in the real world, they must be competent at simultaneously executing multiple motion tasks while reacting to unforeseen externa…
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…