In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to
impact emerging robotics applications from logistics, to agriculture, to home assistance. The …

In this letter, we propose an efficient approach to generate dynamic and versatile humanoid
walking with non-constant center of mass (COM) height. We exploit the benefits of using …

We present an advanced and novel control method to enable actuated Spring Loaded
Inverted Pendulum model to walk over rough and challenging terrains. The high-level …

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

A Hybrid passive Linear Inverted Pendulum (H-LIP) model is proposed for characterizing,
stabilizing and composing periodic orbits for 3D underactuated bipedal walking. Specifically …

Multi-legged robots are analyzed and controlled based on a reduced-order single-legged
planar model. However, the rolling motion is ignored in the discussion of the planar model …

Humans are able to negotiate downstep behaviors-both planned and unplanned-with
remarkable agility and ease. The goal of this paper is to systematically study the translation …

To generate dynamically feasible running motion for humanoid robots, one conventionally
chooses between a simplified model and a full-body model. A simplified model can be …

Bipedal locomotion over compliant terrain is an important and largely underexplored
problem in the robotics community. Although robot walking has been achieved on some non …

This paper investigates optimal control problems formulated over a class of piecewise-
smooth controlled vector fields. Rather than optimizing over the discontinuous system …