2.5k citations · 3.8k across the 40 of their papers we have counts for
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Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors
Ross Hartley, Josh Mangelson, Lu Gan +4
State-of-the-art robotic perception systems have achieved sufficiently good performance using Inertial Measurement Units (IMUs), cameras, and nonlinear optimization techniques, tha…
Enhancing the performance of a safe controller via supervised learning for truck lateral control
Yuxiao Chen, Ayonga Hereid, Huei Peng +1
Correct-by-construction techniques, such as control barrier functions (CBFs), can be used to guarantee closed-loop safety by acting as a supervisor of an existing or legacy control…
Combining Trajectory Optimization, Supervised Machine Learning, and Model Structure for Mitigating the Curse of Dimensionality in the Control of Bipedal Robots
Xingye Da, Jessy Grizzle
To overcome the obstructions imposed by high-dimensional bipedal models, we embed a stable walking motion in an attractive low-dimensional surface of the system's state space. The…
Virtual Constraints and Hybrid Zero Dynamics for Realizing Underactuated Bipedal Locomotion
Jessy W Grizzle, Christine Chevallereau
Underactuation is ubiquitous in human locomotion and should be ubiquitous in bipedal robotic locomotion as well. This chapter presents a coherent theory for the design of feedback…
Self-synchronization and Self-stabilization of 3D Bipedal Walking Gaits
Christine Chevallereau, Hamed Razavi, Damien Six +2
This paper seeks insight into stabilization mechanisms for periodic walking gaits in 3D bipedal robots. Based on this insight, a control strategy based on virtual constraints, whic…