PUBLICATIONS | Biped Robotics Lab

In Review

Fall Prediction for Bipedal Robots: The Standing Phase

Submitted to IEEE International Conference on Robotics and Automation (ICRA), 2024

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Recent Published Papers

Exploring Kinodynamic Fabrics for Reactive Whole-Body Control of Underactuated Humanoid Robots

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023

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Realtime Safety Control for Bipedal Robots to
Avoid Multiple Obstacles via CLF-CBF Constraints

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023

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Stair Climbing using the Angular Momentum Linear Inverted Pendulum Model and Model Predictive Control

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023

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Optimizing Lead Time in Fall Detection for a Planar Bipedal Robot

International Conference on Electrical, Computer, Communications and Mechatronics Engineering, 2023

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Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain

IEEE Transactions on Robotics, 2023

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Zero dynamics, pendulum models, and angular momentum in feedback control of bipedal locomotion

Journal of Dynamic Systems, Measurement, and Control, 2022

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Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller via Model Predictive Control and Virtual Constraints

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022

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One-Step Ahead Prediction of Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-inspired Controller

IEEE International Conference on Robotics and Automation, 2021

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A New Framework for Registration of Semantic Point Clouds from Stereo and RGB-D Cameras

IEEE International Conference on Robotics and Automation, 2021

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LiDARTag: A Real-Time Fiducial Tag System for Point Clouds

IEEE Robotics and Automation Letters, 2021

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Improvements to Target-Based 3D LiDAR to Camera Calibration

IEEE Access ( Volume: 8 , July 2020)

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Feedback Control Design for Robust Comfortable Sit-to-Stand Motions of 3D Lower-limb Exoskeletons

IEEE Access , 2020

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Bayesian Spatial Kernel Smoothing for Scalable Dense Semantic Mapping

IEEE Robotics and Automation Letters ( Volume: 5 , Issue: 2 , April 2020 )

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Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation

International Journal of Robotics Research (IJRR), Oct. 2019.

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

International Journal of Robotics Research (IJRR), May 2019

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Rapid Trajectory Optimization Using C-FROST with Illustration on a Cassie-Series Dynamic Walking Biped

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

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Continuous Direct Sparse Visual Odometry from RGB-D Images

Robotics: Science and Systems 2019

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Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway

American Control Conference, 2019

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

IEEE International Conference on Robotics and Automation , 2019

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Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking

IEEE Control System Magazine, 2018

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Hybrid Contact Preintegration for Visual-Inertial-Contact State Estimation Using Factor Graphs

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

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

Robotics: Science and Systems 2018

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

IEEE International Conference on Robotics and Automation, 2018

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

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

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Self-synchronization and self-stabilization of 3D bipedal walking gaits

Robotics and Autonomous Systems, 2018

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No Video

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BIPED ROBOTICS LAB@MICHIGAN

In Review

Fall Prediction for Bipedal Robots: The Standing Phase

Recent Published Papers

Exploring Kinodynamic Fabrics for Reactive Whole-Body Control of Underactuated Humanoid Robots

Realtime Safety Control for Bipedal Robots to Avoid Multiple Obstacles via CLF-CBF Constraints

Stair Climbing using the Angular Momentum Linear Inverted Pendulum Model and Model Predictive Control

Optimizing Lead Time in Fall Detection for a Planar Bipedal Robot

Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain

Zero dynamics, pendulum models, and angular momentum in feedback control of bipedal locomotion

Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller via Model Predictive Control and Virtual Constraints

​One-Step Ahead Prediction of Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-inspired Controller

A New Framework for Registration of Semantic Point Clouds from Stereo and RGB-D Cameras

LiDARTag: A Real-Time Fiducial Tag System for Point Clouds

Improvements to Target-Based 3D LiDAR to Camera Calibration

Feedback Control Design for Robust Comfortable Sit-to-Stand Motions of 3D Lower-limb Exoskeletons

Bayesian Spatial Kernel Smoothing for Scalable Dense Semantic Mapping

Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation

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

Rapid Trajectory Optimization Using C-FROST with Illustration on a Cassie-Series Dynamic Walking Biped

Continuous Direct Sparse Visual Odometry from RGB-D Images

Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway

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

Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking

Hybrid Contact Preintegration for Visual-Inertial-Contact State Estimation Using Factor Graphs

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

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

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

Self-synchronization and self-stabilization of 3D bipedal walking gaits

Realtime Safety Control for Bipedal Robots to
Avoid Multiple Obstacles via CLF-CBF Constraints

One-Step Ahead Prediction of Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-inspired Controller