Abstract: The complex dynamic behaviors of legged locomotion on stationary terrain have been extensively analyzed using a simplified dynamic model called the spring-loaded inverted pendulum (SLIP) model. However, legged locomotion ...

Abstract: This paper introduces an adaptive robust trajectory tracking controller design to provably realize stable bipedal robotic walking under parametric and unmodeled uncertainties. Deriving such a controller is challenging ...

Abstract: Accurate control of a humanoid robot's global position (i.e., its three-dimensional (3D) position in the world) is critical to the reliable execution of high-risk tasks such as avoiding collision with pedestrians in a ...

Abstract: This paper focuses on the development of a model-based feedback controller to realize high versatility of fully actuated planar bipedal robotic walking. To conveniently define both symmetric and asymmetric walking patterns, ...

Abstract: A safety-critical measure of legged locomotion performance is a robot's ability to track its desired time-varying position trajectory in an environment, which is herein termed as “global-position tracking.” This paper ...