First steps toward formal controller synthesis for bipedal robots with experimental implementation
Sign Up to like & getrecommendations! Published in 2017 at "Nonlinear Analysis: Hybrid Systems"
DOI: 10.1016/j.nahs.2017.01.002
Abstract: Bipedal robots are prime examples of complex cyber–physical systems (CPSs). They exhibit many of the features that make the design and verification of CPS so difficult: hybrid dynamics, large continuous dynamics in each mode (e.g.,… read more here.
Keywords: step; bipedal robots; controller; steps toward ... See more keywords
A Sequential MPC Approach to Reactive Planning for Bipedal Robots Using Safe Corridors in Highly Cluttered Environments
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3204367
Abstract: This letter presents a sequential Model Predictive Control (MPC) approach to reactive motion planning for bipedal robots in highly cluttered environments with moving obstacles. The approach relies on a directed convex decomposition of the free… read more here.
Keywords: mpc approach; approach reactive; planning bipedal; bipedal robots ... See more keywords