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Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway
Yukai Gong, Ross Hartley, Xingye Da +4
The Cassie bipedal robot designed by Agility Robotics is providing academics a common platform for sharing and comparing algorithms for locomotion, perception, and navigation. This…
Rapid Trajectory Optimization Using C-FROST with Illustration on a Cassie-Series Dynamic Walking Biped
Ayonga Hereid, Omar Harib, Ross Hartley +2
One of the big attractions of low-dimensional models for gait design has been the ability to compute solutions rapidly, whereas one of their drawbacks has been the difficulty in ma…
Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation
Ross Hartley, Maani Ghaffari Jadidi, Jessy W. Grizzle +1
This paper derives a contact-aided inertial navigation observer for a 3D bipedal robot using the theory of invariant observer design. Aided inertial navigation is fundamentally a n…
Hybrid Contact Preintegration for Visual-Inertial-Contact State Estimation Using Factor Graphs
Ross Hartley, Maani Ghaffari Jadidi, Lu Gan +3
The factor graph framework is a convenient modeling technique for robotic state estimation where states are represented as nodes, and measurements are modeled as factors. When desi…
Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking
Omar Harib, Ayonga Hereid, Ayush Agrawal +9
This manuscript presents control of a high-DOF fully actuated lower-limb exoskeleton for paraplegic individuals. The key novelty is the ability for the user to walk without the use…