Abstract-- This paper extends the method of virtual constraints and hybrid zero dynamics, developed for rigid robots with a single degree of underactuation, to MABEL, a planar bipe...
Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis...
Simulated characters in simulated worlds require simulated skills. We develop control strategies that enable physically-simulated characters to dynamically navigate environments w...
Stelian Coros, Philippe Beaudoin, KangKang Yin, Mi...
Abstract— This paper deals with a discret-time control approach, proposed for the control of a five-link, four-actuator planar biped walker. The approach is based on the choice ...
We have been developing a software platform, called OpenHRP, for humanoid robotics which consists of a dynamic simulator and motion control library for humanoid robots. This paper...
— Although there has been an increasing interest in dynamic bipedal locomotion for significant improvement of energy efficiency and dexterity of mobile robots in the real world...