Humans as bipeds enjoy certain advantages over other terrestrial systems, which motivate
us to study and develop biped robots. Underactuated biped robots adopt the energy efficient …

Contact constraints, such as those between a foot and the ground or a hand and an object,
are inherent in many robotic tasks. These constraints define a manifold of feasible states; …

We propose a constructive control design for stabilization of non-periodic trajectories of
underactuated robots. An important example of such a system is an underactuated “dynamic …

This paper presents a design method of an explicit analytical classical expression of the
Poincaré map for the passive dynamic walking (PDW) of the planar compass-gait biped …

This paper presents a feedback controller that allows MABEL, which is a kneed planar
bipedal robot with 1-m-long legs, to accommodate terrain that presents large unexpected …

A motion planning algorithm is described for bounding over rough terrain with the LittleDog
robot. Unlike walking gaits, bounding is highly dynamic and cannot be planned with quasi …

In hybrid model predictive control (MPC), a mixed-integer quadratic program (MIQP) is
solved at each sampling time to compute the optimal control action. Although these …

Quadrotor flight has typically been limited to sparse environments due to numerical
complications that arise when dealing with large numbers of obstacles. We hypothesized …

Many critical tasks in robotics, such as locomotion or manipulation, involve collisions
between a rigid body and the environment or between multiple bodies. Methods based on …

An analysis of the passive dynamic walking of a compass-gait biped model under the OGY-
based control approach using the impulsive hybrid nonlinear dynamics is presented in this …