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 …

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 …

In the control of bipedal locomotion, linear velocity of the center of mass has been widely
accepted as a primary variable for summarizing a robot's state vector. The ubiquitous …

Ultimately, feedback control is about making adjustments using current state information in
order to meet an objective in the future. In the control of bipedal locomotion, linear velocity of …

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

This paper presents a feedback control methodology for 3D dynamic underactuated bipedal
walking, that couples an actuated spring-loaded-inverted-pendulum (aSLIP) for forward …

This paper proposes an online bipedal footstep planning strategy that combines model
predictive control (MPC) and reinforcement learning (RL) to achieve agile and robust …

This paper shows how CasADi's state-of-the-art implementation of algorithmic differentiation
can be leveraged to formulate and efficiently solve gait optimization problems, enabling …

A new control paradigm using angular momentum and foot placement as state variables in
the linear inverted pendulum model has expanded the realm of possibilities for the control of …

Creating machines that resemble a human morphology have always been an aspiring goal
for mankind even from the early days of engineering. Today, this effort continues to exist …