2.5k citations · 3.8k across the 40 of their papers we have counts for
6 papers · 1 filter
Fall Prediction for Bipedal Robots: The Standing Phase
M. Eva Mungai, Gokul Prabhakaran, Jessy W. Grizzle
This paper presents a novel approach to fall prediction for bipedal robots, specifically targeting the detection of potential falls while standing caused by abrupt, incipient, and…
The Michigan Robotics Undergraduate Curriculum: Defining the Discipline of Robotics for Equity and Excellence
Odest Chadwicke Jenkins, Jessy Grizzle, Ella Atkins +6
The Robotics Major at the University of Michigan was successfully launched in the 2022-23 academic year as an innovative step forward to better serve students, our communities, and…
Stair Climbing using the Angular Momentum Linear Inverted Pendulum Model and Model Predictive Control
Oluwami Dosunmu-Ogunbi, Aayushi Shrivastava, Grant Gibson +1
A new control paradigm using angular momentum and foot placement as state variables in the linear inverted pendulum model has expanded the realm of possibilities for the control of…
Optimizing Lead Time in Fall Detection for a Planar Bipedal Robot
M. Eva Mungai, Jessy Grizzle
For legged robots to operate in complex terrains, they must be robust to the disturbances and uncertainties they encounter. This paper contributes to enhancing robustness through t…
Exploring Kinodynamic Fabrics for Reactive Whole-Body Control of Underactuated Humanoid Robots
Alphonsus Adu-Bredu, Grant Gibson, Jessy W. Grizzle
For bipedal humanoid robots to successfully operate in the real world, they must be competent at simultaneously executing multiple motion tasks while reacting to unforeseen externa…
Realtime Safety Control for Bipedal Robots to Avoid Multiple Obstacles via CLF-CBF Constraints
Jinze Liu, Minzhe Li, Jiunn-Kai Huang +1
This paper presents a reactive planning system that allows a Cassie-series bipedal robot to avoid multiple non-overlapping obstacles via a single, continuously differentiable contr…