An overview on bipedal gait control methods
C Hu, S ** stabilization
In this article, we holistically present a hybrid-linear inverted pendulum (H-LIP) based
approach for synthesizing and stabilizing 3-D foot-underactuated bipedal walking, with an …
approach for synthesizing and stabilizing 3-D foot-underactuated bipedal walking, with an …
Quadruped capturability and push recovery via a switched-systems characterization of dynamic balance
This article studies capturability and push recovery for quadruped locomotion. Despite the
rich literature on capturability analysis and push recovery for legged robots, existing tools …
rich literature on capturability analysis and push recovery for legged robots, existing tools …
Asymptotic stabilization of aperiodic trajectories of a hybrid-linear inverted pendulum walking on a vertically moving surface
This paper presents the analysis and stabilization of a hybrid-linear inverted pendulum (H-
LIP) model that describes the essential robot dynamics associated with legged locomotion …
LIP) model that describes the essential robot dynamics associated with legged locomotion …
Online running-gait generation for bipedal robots with smooth state switching and accurate speed tracking
Smooth state switching and accurate speed tracking are important for the stability and
reactivity of bipedal robots when running. However, previous studies have rarely been able …
reactivity of bipedal robots when running. However, previous studies have rarely been able …
Trajectory generation for legged robots based on a closed-form solution of centroidal dynamics
Y Tazaki - IEEE Robotics and Automation Letters, 2024 - ieeexplore.ieee.org
This letter proposes a novel reduced-order model of rigid body dynamics that can be used
for versatile motion generation of legged robots. It can express both linear CoM movement …
for versatile motion generation of legged robots. It can express both linear CoM movement …
Humanoid Walking Control Using LQR and ANFIS
Humanoid robots possess remarkable mobility and adaptability for diverse environments.
Nonetheless, accurate walking pattern tracking remains challenging, especially when …
Nonetheless, accurate walking pattern tracking remains challenging, especially when …
Instantaneous capture input for balancing the variable height inverted pendulum
Balancing is a fundamental need for legged robots due to their unstable floating-base
nature. Balance control has been thoroughly studied for simple models such as the linear …
nature. Balance control has been thoroughly studied for simple models such as the linear …
Learning hybrid locomotion skills—Learn to exploit residual actions and modulate model-based gait control
This work has developed a hybrid framework that combines machine learning and control
approaches for legged robots to achieve new capabilities of balancing against external …
approaches for legged robots to achieve new capabilities of balancing against external …
[HTML][HTML] Robust walking stabilization strategy of humanoid robots on uneven terrain via QP-based impedance/admittance control
A robust walking stabilization strategy of humanoids on uneven terrain via a QP-based
impedance/admittance control is addressed in this paper. The core idea is combining the …
impedance/admittance control is addressed in this paper. The core idea is combining the …