18 citations · 39 across the 10 of their papers we have counts for
11 papers
Overtaking Moving Obstacles with Digit: Path Following for Bipedal Robots via Model Predictive Contouring Control
Kunal S. Narkhede, Dhruv A. Thanki, Abhijeet M. Kulkarni +1
Humanoid robots are expected to navigate in changing environments and perform a variety of tasks. Frequently, these tasks require the robot to make decisions online regarding the s…
Reactive Gait Composition with Stability: Dynamic Walking amidst Static and Moving Obstacles
Kunal Sanjay Narkhede, Mohamad Shafiee Motahar, Sushant Veer +1
This paper presents a modular approach to motion planning with provable stability guarantees for robots that move through changing environments via periodic locomotion behaviors. W…
A Sequential MPC Approach to Reactive Planning for Bipedal Robots
Kunal Sanjay Narkhede, Abhijeet Mangesh Kulkarni, Dhruv Ashwinkumar Thanki +1
This paper presents a sequential Model Predictive Control (MPC) approach to reactive motion planning for bipedal robots in dynamic environments. The approach relies on a sequential…
Robust Dynamic Walking for a 3D Dual-SLIP Model under One-Step Unilateral Stiffness Perturbations: Towards Bipedal Locomotion over Compliant Terrain
Chrysostomos Karakasis, Ioannis Poulakakis, Panagiotis Artemiadis
Bipedal walking is one of the most important hallmarks of human that robots have been trying to mimic for many decades. Although previous control methodologies have achieved robot…
Interactive Dynamic Walking: Learning Gait Switching Policies with Generalization Guarantees
Prem Chand, Sushant Veer, Ioannis Poulakakis
In this paper, we consider the problem of adapting a dynamically walking bipedal robot to follow a leading co-worker while engaging in tasks that require physical interaction. Our…
Safe Adaptive Switching among Dynamical Movement Primitives: Application to 3D Limit-Cycle Walkers
Sushant Veer, Ioannis Poulakakis
Complex motions for robots are frequently generated by switching among a collection of individual movement primitives. We use this approach to formulate robot motion plans as seque…