2.5k citations · 3.8k across the 40 of their papers we have counts for
6 papers · 1 filter
Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller via Model Predictive Control and Virtual Constraints
Grant Gibson, Oluwami Dosunmu-Ogunbi, Yukai Gong +1
This paper presents a gait controller for bipedal robots to achieve highly agile walking over various terrains given local slope and friction cone information. Without these consid…
Optimal Target Shape for LiDAR Pose Estimation
Jiunn-Kai Huang, William Clark, Jessy W. Grizzle
Targets are essential in problems such as object tracking in cluttered or textureless environments, camera (and multi-sensor) calibration tasks, and simultaneous localization and m…
Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain
Jiunn-Kai Huang, Jessy W. Grizzle
We propose and experimentally demonstrate a reactive planning system for bipedal robots on unexplored, challenging terrains. The system consists of a low-frequency planning thread…
Multitask Learning for Scalable and Dense Multilayer Bayesian Map Inference
Lu Gan, Youngji Kim, Jessy W. Grizzle +4
This article presents a novel and flexible multitask multilayer Bayesian mapping framework with readily extendable attribute layers. The proposed framework goes beyond modern metri…
Zero Dynamics, Pendulum Models, and Angular Momentum in Feedback Control of Bipedal Locomotion
Yukai Gong, Jessy Grizzle
Low-dimensional models are ubiquitous in the bipedal robotics literature. On the one hand is the community of researchers that bases feedback control design on pendulum models sele…
Toward Safety-Aware Informative Motion Planning for Legged Robots
Sangli Teng, Yukai Gong, Jessy W. Grizzle +1
This paper reports on developing an integrated framework for safety-aware informative motion planning suitable for legged robots. The information-gathering planner takes a dense st…