Abstract: Abstract. Robust push recovery controllers must stabilize a system in response to various perturbations. Existing approaches often determine these actions based on reduced-order models, which can either underutilize the ...

Abstract: Maintaining stability in jumping robots remains a challenge due to their hybrid dynamics. Despite recent advances, existing research lacks a clear definition and comprehensive criteria for jumping stability. To address ...

Abstract: Maintaining stability in jumping robots remains a challenge due to their hybrid dynamics. Despite recent advances, existing research lacks a clear definition and comprehensive criteria for jumping stability. To address ...

Abstract: To achieve walking and push recovery successfully, a biped robot must be able to determine if it can maintain its current contact configuration or transition into another one without falling. In this study, the ability of ...