Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway

Yukai Gong, Ross Hartley, Xingye Da, +4

Robot KinematicsEngineeringField RoboticsGait LibrariesMotor Control +18

3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics

Ayonga Hereid, Eric Cousineau, Christian Hubicki, +1

Robot KinematicsEngineeringUnderactuated Humanoid RobotsField RoboticsMotor Control +19

FROST*: Fast robot optimization and simulation toolkit

Ayonga Hereid, Aaron D. Ames

Robot KinematicsRobotic SystemsEngineeringField RoboticsOpen-source Matlab Toolkit +21

Dynamic Humanoid Locomotion: A Scalable Formulation for HZD Gait Optimization

Ayonga Hereid, Christian Hubicki, Eric Cousineau, +1

IEEE Transactions on Robotics

Robot KinematicsGait AnalysisEngineeringField RoboticsMotor Control +19

3D dynamic walking on stepping stones with control barrier functions

Quan Nguyen, Ayonga Hereid, Jessy W. Grizzle, +2

Robot KinematicsEngineeringField RoboticsFootstep PlacementsAdvanced Motion Control +17

Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS

Jacob Reher, Eric Cousineau, Ayonga Hereid, +2

Towards Restoring Locomotion for Paraplegics: Realizing Dynamically Stable Walking on Exoskeletons

Thomas Gurriet, Sylvain Finet, Guilhem Boéris, +6

Gait AnalysisStable WalkingEngineeringField RoboticsMotor Control +22

First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons

Ayush Agrawal, Omar Harib, Ayonga Hereid, +6

IEEE Access

EngineeringRehabilitation RoboticsKinesiologySteady StateSystems Engineering +17

Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Digit Bipedal Robot

Guillermo A. Castillo, Bowen Weng, Wei Zhang, +1

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

EngineeringDigit Bipedal RobotField RoboticsMotor ControlLearning Control +20

Dynamic multi-domain bipedal walking with atrias through SLIP based human-inspired control

Ayonga Hereid, Shishir Kolathaya, Mikhail Jones, +3

Robot KinematicsEngineeringField RoboticsMotor ControlMovement Analysis +21