Dynamical bipedal walking subject to precise footstep placements is crucial for navigating
real world terrain with discrete footholds such as stepping stones, especially as the spacing …

An inspiration for developing a bipedal walking system is the ability to navigate rough terrain
with discrete footholds like stepping stones. In this paper, we present a novel methodology …

Owing to their morphology and mechanical design, bipedal robots have the ability to
traverse over a wide range of terrain including those with discrete footholds such as …

In this work, we propose a learning approach for 3D dynamic bipedal walking when
footsteps are constrained to stepping stones. While recent work has shown progress on this …

3D dynamical walking subject to precise footstep placements is crucial for navigating real
world terrain with discrete footholds. We present a novel methodology that combines control …

Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical
reality. This is due to continued progress in three key areas: a mathematical understanding …

This paper presents an online walking synthesis methodology to enable dynamic and stable
walking on constrained footholds for underactuated bipedal robots. Our approach modulates …

Step adjustment can improve the gait robustness of biped robots; however, the adaptation of
step timing is often neglected as it gives rise to nonconvex problems when optimized over …

Step adjustment for humanoid robots has been shown to improve gait robustness, while
timing adjustment is often neglected in control strategies. In this paper, a new walking …

In this paper, we present a hierarchical framework that enables motion planning for
asymptotically stable 3-D bipedal walking in the same way that planning is already possible …