4 papers · 1 filter
Walk the PLANC: Physics-Guided RL for Agile Humanoid Locomotion on Constrained Footholds
Min Dai, William D. Compton, Junheng Li +2
Bipedal humanoid robots must precisely coordinate balance, timing, and contact decisions when locomoting on constrained footholds such as stepping stones, beams, and planks -- even…
RoMoCo: Robotic Motion Control Toolbox for Reduced-Order Model-Based Locomotion on Bipedal and Humanoid Robots
Min Dai, Aaron D. Ames
We present RoMoCo, an open-source C++ toolbox for the synthesis and evaluation of reduced-order model-based planners and whole-body controllers for bipedal and humanoid robots. RoM…
Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control
Min Dai, Aaron D. Ames
In this paper, we present a novel control framework to achieve robust push recovery on bipedal robots while locomoting. The key contribution is the unification of hybrid system mod…
Safety-critical Locomotion of Biped Robots in Infeasible Paths: Overcoming Obstacles during Navigation toward Destination
Jaemin Lee, Min Dai, Jeeseop Kim +1
This paper proposes a safety-critical locomotion control framework employed for legged robots exploring through infeasible path in obstacle-rich environments. Our research focus is…