BIPED ROBOTICS LAB@MICHIGAN

Rapid Bipedal Gait Design Using C-FROST with Illustration on a Cassie-series Robot Submitted August 2018.

Combining Trajectory Optimization, Supervised Machine Learning, and Model Structure for Mitigating the Curse of Dimensionality in the Control of Bipedal Robots, IJRR, Submitted 03 Nov 2017

Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway, American Control Conference, June 2019

Reinforcement Learning Meets Hybrid Zero Dynamics: A Case Study for RABBIT, ICRA 2019

Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking, To appear in Control Systems Magazine

Hybrid Contact Preintegration for Visual-Inertial-Contact State Estimation within Factor Graphs IROS 2018

Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation , RSS 2018

Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors, ICRA 2018

Towards Restoring Locomotion for Paraplegics: Realizing Dynamically Stable Walking on Exoskeletons , ICRA 2018

Self-synchronization and Self-stabilization of 3D Bipedal Walking Gaits, Robotics and Autonomous Systems, 2018, Vol. 100, pp. 43-60.

Virtual Constraints and Hybrid Zero Dynamics for Realizing Underactuated Bipedal Locomotion

Dynamic walking on randomly-varying discrete terrain with one-step preview, In Robotics: Science and Systems (RSS)

Virtual Constraints and Hybrid Zero Dynamics for Realizing Underactuated Bipedal Locomotion

First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons, IEEE Access, April 20917

Supervised Learning for Stabilizing Underactuated Bipedal Robot Locomotion, with Outdoor Experiments on the Wave Field, ICRA, May 2017

First Steps toward Formal Controller Synthesis for Bipedal Robots with Experimental Implementation

Dynamic Walking on Stepping Stones with Gait Library and Control Barrier Functions, WAFR, Dec 2016

3D Dynamic Walking on Stepping Stones with Control Barrier Functions, CDC 2016

Reduced-Order Framework for Exponential Stabilization of Periodic Orbits on Parameterized Hybrid Zero Dynamics Manifolds: Application to Bipedal Locomotion,IFAC journal Nonlinear Analysis: Hybrid Systems (NAHS)

From 2D Design of Underactuated Bipedal Gaits to 3D Implementation: Walking with Speed Tracking, IEEE Access

Experimental Results for 3D Bipedal Robot Walking Based On Systematic Optimization of Virtual Constraints,, American Control Conference, Boston, 2016.

Nonholonomic Virtual Constraints for Dynamic Walkin, Dec. 2015, 54th IEEE Conference of Decision and Control (CDC 2015)

Iterative Robust Stabilization Algorithm for Periodic Orbits of Hybrid Dynamical Systems: Application to Bipedal Running, ADHS --Analysis and Design of Hybrid Systems, October 14-16, 2015.

Exponentially Stabilizing Continuous-Time Controllers for Periodic Orbits of Hybrid Systems: Application to Bipedal Locomotion with Ground Height Variations, The International Journal of Robotics Research. (August 2015 )

Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs, Reprint, IEEE Access, Vol. 3, April 2015, pp. 323 - 332Remark]

Walking Gait Optimization for Accommodation of Unknown Terrain Height Variations, American Control Conference, July 2015.

First Steps toward Formal Controller Synthesis for Bipedal Robots.

Models, Feedback Control, and Open Problems of 3D Bipedal Robotic Walking, (Survey Paper) reprint Automatica, Volume 50, Issue 8, August 2014, Pages 1955 -- 1988

Continuous-Time Controllers for Stabilizing Periodic Orbits of Hybrid Systems: Application to an Underactuated 3D Bipedal Robot 53rd IEEE Conference of Decision and Control (CDC 2014), Final version, December 2014.

Preliminary Walking Experiments with Underactuated 3D Bipedal Robot MARLO,, Final version IROS, Chicago, IL, September, 2014.

Event-based Stabilization of Periodic Orbits for Underactuated 3D Bipedal Robots with Left-Right Symmetry, Re-print IEEE Transaction of Robotics, Vol. 30, No. 2, pp. 365 - 381, April 2014

Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics, reprint 2 IEEE TAC, Vol. 59, NO. 4, April 2014, pp 876-891.

Performance Analysis and Feedback Control of ATRIAS, A 3D Bipedal Robot, Re-print ASME J. Dynamic Systems Measurement and Control,Volume 136, Issue 2, March 2014.

A stabilization result with application to bipedal locomotion,, IEEE Conf. on Decision and Control, Florence, Italy, Dec., 2013.

Robust Event-based Stabilization of Periodic Orbits for Hybrid Systems: Application to an Underactuated 3D Bipedal Robot, Reprint American Control Conference, Washington DC, June 2013.

Control Lyapunov Functions and Hybrid Zero Dynamics, Reprint 2012-CDC, Hawaii, USA, December, 2012.

From Stable Walking to Steering of a 3D Bipedal Robot with Passive Point Feet, Reprint Robotica, Volume 30, Issue 07, December 2012, pp 1119-1130.