4 citations · 7 across the 8 of their papers we have counts for
9 papers
Modular Safety Guardrails Are Necessary for Foundation-Model-Enabled Robots in the Real World
Joonkyung Kim, Wenxi Chen, Davood Soleymanzadeh +9
The integration of foundation models (FMs) into robotics has accelerated real-world deployment, while introducing new safety challenges arising from open-ended semantic reasoning a…
HT-LIP Model based Robust Control of Quadrupedal Robot Locomotion under Unknown Vertical Ground Motion
Amir Iqbal, Sushant Veer, Christopher Niezrecki +1
This paper presents a hierarchical control framework that enables robust quadrupedal locomotion on a dynamic rigid surface (DRS) with general and unknown vertical motions. The key…
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…
Real-Time Walking Pattern Generation of Quadrupedal Dynamic-Surface Locomotion based on a Linear Time-Varying Pendulum Model
Amir Iqbal, Sushant Veer, Yan Gu
This study introduces an analytically tractable and computationally efficient model of the legged robot dynamics associated with locomotion on a dynamic rigid surface (DRS), and de…
DRS-LIP: Linear Inverted Pendulum Model for Legged Locomotion on Dynamic Rigid Surfaces
Amir Iqbal, Sushant Veer, Yan Gu
Legged robot locomotion on a dynamic rigid surface (i.e., a rigid surface moving in the inertial frame) involves complex full-order dynamics that is high-dimensional, nonlinear, an…
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…
Ultimate Boundedness for Switched Systems with Multiple Equilibria Under Disturbances
Sushant Veer, Ioannis Poulakakis
In this paper, we investigate the robustness to external disturbances of switched discrete and continuous systems with multiple equilibria. It is shown that if each subsystem of th…
Input-to-State Stability of Periodic Orbits of Systems with Impulse Effects via Poincaré Analysis
Sushant Veer, Rakesh, Ioannis Poulakakis
In this paper we investigate the relation between robustness of periodic orbits exhibited by systems with impulse effects and robustness of their corresponding Poincaré maps. In pa…
Generation of and Switching among Limit-Cycle Bipedal Walking Gaits
Sushant Veer, Mohamad Shafiee Motahar, Ioannis Poulakakis
In this paper we provide a method to generate a continuum of limit cycles using a single precomputed exponentially stable limit cycle designed within the Hybrid Zero Dynamics frame…