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 …

To overcome the obstructions imposed by high-dimensional bipedal models, we embed a
stable walking motion in an attractive low-dimensional surface of the system's state space …

Lower-limb prostheses provide a prime example of cyber-physical systems (CPSs) requiring
the synergistic development of sensing, algorithms, and controllers. With a view towards …

This paper presents a systematic algorithm to design time-invariant decentralized feedback
controllers to exponentially and robustly stabilize periodic orbits for hybrid dynamical …

Generating stable walking gaits that yield natural locomotion when executed on robotic-
assistive devices is a challenging task that often requires hand-tuning by domain experts …

This paper shows how controlled-invariant manifolds in hybrid dynamical systems can be
used to reduce the offline computational burden associated with locally exponentially …

The aim of the present study is to investigate the complexity and stability of human
ambulation and the implications on robotic prostheses control systems. Fourteen healthy …

This paper presents a systematic, two-stage optimization process for the design and
stabilization of periodic walking gaits based on the full 3D dynamic model of a robot. After …

Virtual constraints have been recognized as an essential bridging tool which has the
potential to translate rich nonlinear bipedal control methodologies to the control of …

Legged robots have the potential to transform the logistics and package delivery industries,
become assistants in our homes, and aide in search and rescue. Although many wheeled …