Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robotic Walking on a Swaying Rigid Surface-Reference-Cited by-同舟云学术

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Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robotic Walking on a Swaying Rigid Surface

Published:2023-05-31 Issue: Volume: Page:
ISSN:
Container-title:2023 American Control Conference (ACC)
language:
Short-container-title:

Author:

Gao Yuan¹,Gong Yukai²,Paredes Victor³,Hereid Ayonga³,Gu Yan⁴

Affiliation:

1. University of Massachusetts Lowell,College of Engineering,Lowell,MA,USA,01854

2. University of Michigan,Robotics Department,Ann Arbor,MI,USA,48105

3. The Ohio State University,Department of Mechanical and Aerospace Engineering,Columbus,OH,USA,43210

4. Purdue University,School of Mechanical Engineering,West Lafayette,IN,USA,47907

Funder

National Science Foundation

Office of Naval Research

Publisher

IEEE

Link

http://xplorestaging.ieee.org/ielx7/10155646/10155787/10156254.pdf?arnumber=10156254

Reference23 articles.

1. Asymptotic Stabilization of Aperiodic Trajectories of a Hybrid-Linear Inverted Pendulum Walking on a Vertically Moving Surface

2. DRS-LIP: Linear inverted pendulum model for legged locomotion on dynamic rigid surfaces;iqbal,2022

3. FROST∗: Fast robot optimization and simulation toolkit

4. Cabin Location and the Likelihood of Motion Sickness in Cruise Ship Passengers

5. The 3D linear inverted pendulum mode: a simple modeling for a biped walking pattern generation

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1. Contingency Model Predictive Control for Bipedal Locomotion on Moving Surfaces with a Linear Inverted Pendulum Model;2024 American Control Conference (ACC);2024-07-10

2. An Adaptive Framework for Manipulator Skill Reproduction in Dynamic Environments;2024 21st International Conference on Ubiquitous Robots (UR);2024-06-24

3. Real-world humanoid locomotion with reinforcement learning;Science Robotics;2024-04-17

4. Data-driven Identification of a Non-homogeneous Inverted Pendulum Model for Enhanced Humanoid Control;2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids);2023-12-12

5. Analytical solution to a time-varying LIP model for quadrupedal walking on a vertically oscillating surface;Mechatronics;2023-12

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