— Consider a biped evolving in the sagittal plane. The unexpected rotation of the supporting foot can be avoided by controlling the zero moment point or ZMP. The objective of thi...
Dalila Djoudi, Christine Chevallereau, J. W. Grizz...
A 3D biped with knees and a hip is naturally modeled as a nontrivial hybrid system; impacts occur when the knee strikes and when the foot impacts the ground causing a switch in the...
— Closed-loop, asymptotically stable walking motions are designed for a 5-link, planar bipedal robot model with one degree of underactuation. Parameter optimization is applied to...
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...