2 papers
cs.RO2023
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.RO2023
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…