A Robust Walking Controller Based on Online Optimization of Ankle ...

In this paper, we propose a biped walking controller that optimized three push recovery strategies: the ankle, hip, and stepping strategies.

A biped walking controller that optimized three push recovery strategies: the ankle, hip, and stepping strategies based on the linear inverted pendulum with ...

A Robust Walking Controller Based on Online Optimization of Ankle ...

Abstract—In this paper, we propose a biped walking controller that optimized three push recovery strategies: the ankle, hip, and stepping strategies.

[PDF] A robust walking controller based on online step location and ...

A new walking controller is proposed that combines both step location and timing adjustment for generating robust gaits and does not require precise control ...

A Robust Walking Controller Based on Online Optimization of Ankle ...

(DOI: 10.1109/TRO.2019.2926487) In this paper, we propose a biped walking controller that optimized three push recovery strategies: the ankle, hip, ...

(PDF) A robust walking controller based on online step location and ...

and ankle actuation. 1.1 Related work. Generating walking patterns exploiting the whole dynamics. of humanoid robots is a general approach which ...

A robust walking controller optimizing step position and step time ...

A Robust Walking Controller Based on Online Optimization of Ankle, Hip, and Stepping Strategies. Article. Jul 2019. Hyobin Jeong · Inho Lee ...

Demonstrating a Robust Walking Algorithm for Underactuated ...

... Controller's efficiency in computing ankle torque for ... for which the trajectories were not specifically optimized showcased the robustness of the controller.

3D Walking Based on Online Optimization

The low level controller takes these trajectories as inputs and uses a Quadratic Programming (QP) based inverse dynamics solver to generate torques for all the ...

Publications - Google Sites

"A Robust Walking Controller Based on Online Optimization of Ankle, Hip, and Stepping Strategies." International Conference on Robotics and Automation (ICRA) ...

Adaptive ankle impedance control for bipedal robotic upright balance

A robust walking controller based on online optimization of ankle, hip, and stepping strategies. IEEE Transactions on Robotics, 35(6), 1367 ...

Implementation of a Robust Dynamic Walking Controller on a ...

Clary, K. Green, A. Fern, and J. W. Hurst, “Fast online trajectory optimization for the bipedal robot Cassie,” in Robotics: Science ...

Versatile Locomotion by Integrating Ankle, Hip, Stepping, and ...

Oh, “A robust walking controller based on online optimization of ankle, hip, and stepping strategies,” IEEE Transactions on Robotics, vol. 35, no. 6, pp ...

Robust and Agile 3D Biped Walking With Steering Capability Using ...

controller for walking of torque controlled humanoid robots. Our method uses an online whole body optimization approach which generates joint torques, given ...

Optimized stable gait planning of biped robot using multi-objective ...

A robust walking controller based on online optimization of ankle, hip, and stepping strategies. IEEE Trans Robot 2019; 35(6): 1367–1386 ...

Robust Walking for Humanoid Robot Based on Divergent ... - MDPI

In addition, an excellent controller is necessary to ensure robust walking of robots. Since MPC controllers can solve optimization problems with multiple ...

A Robust Balance-Control Framework for the Terrain-Blind Bipedal ...

Robust dynamic walking using online foot step optimization; Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots ...

Variable Horizon MPC with Swing Foot Dynamics for Bipedal ...

Oh, “A robust walking controller based on online optimization of ankle, hip, and stepping strategies,” IEEE Transactions on Robotics, vol. 35, no. 6, pp ...

Fast Online Optimization for Terrain-Blind Bipedal Robot Walking ...

Therefore, it is important to have a reactive controller that is robust to unobserved uneven terrain variations. The spring-loaded inverted pendulum (SLIP) ...

Nonholonomic virtual constraints and gait optimization for robust ...

(2014b) Evidence for a time-invariant phase variable in human ankle control. ... gait optimization for robust robot walking control. PhD Thesis, University ...