This paper presents a human-inspired control approach to bipedal robotic walking: utilizing
human data and output functions that appear to be intrinsic to human walking in order to …

Powered knee and ankle prostheses can perform a limited number of discrete ambulation
tasks. This is largely due to their control architecture, which uses a finite-state machine to …

The phase of human gait is difficult to quantify accurately in the presence of disturbances. In
contrast, recent bipedal robots use time-independent controllers relying on a mechanical …

This paper presents a gait controller for bipedal robots to achieve highly agile walking over
various terrains given local slope and friction cone information. Without these …

This paper presents the first steps toward unifying locomotion controllers and algorithms with
whole-body control and manipulation. A theoretical framework for this unification will be …

Studies show that the human nervous system is able to parameterize gait cycle phase using
sensory feedback. In the field of bipedal robots, the concept of a phase variable has been …

For bipedal humanoid robots to successfully operate in the real world, they must be
competent at simultaneously executing multiple motion tasks while reacting to unforeseen …

Impedance control is a common framework for control of lower-limb prosthetic devices. This
approach requires choosing many impedance controller parameters. In this paper, we show …

Traversing environments with arbitrary obstacles poses significant challenges for bipedal
robots. In some cases, whole body motions may be necessary to maneuver around an …

This paper draws upon three themes in the bipedal control literature to achieve highly agile,
terrain-aware locomotion. By terrain aware, we mean the robot can use information on …