First steps toward formal controller synthesis for bipedal robots with experimental implementation

Author:

Ames Aaron D.,Tabuada Paulo,Jones Austin,Ma Wen-Loong,Rungger Matthias,Schürmann Bastian,Kolathaya Shishir,Grizzle Jessy W.

Funder

NSF CPS Awards

Publisher

Elsevier BV

Subject

Computer Science Applications,Analysis,Control and Systems Engineering

Reference38 articles.

1. Identification of a bipedal robot with a compliant drivetrain: Parameter estimation for control design;Park;IEEE Control Syst. Mag.,2011

2. A finite-state machine for accommodating unexpected large ground-height variations in bipedal robot walking;Park;IEEE Trans. Robot.,2013

3. Supervisory control of differentially flat systems based on abstraction;Colombo,2011

4. An approximate abstraction approach to safety control of differentially flat systems;Colombo,2013

5. Human-inspired control of bipedal walking robots;Ames;IEEE Trans. Automat. Control,2014

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2. Controller Synthesis for Unknown-Mode Linear Systems with an Epistemic variant of LTL;2023 American Control Conference (ACC);2023-05-31

3. Dynamic Walking: Toward Agile and Efficient Bipedal Robots;Annual Review of Control, Robotics, and Autonomous Systems;2021-05-03

4. Decentralized Control Schemes for Stable Quadrupedal Locomotion: A Decomposition Approach from Centralized Controllers;2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS);2020-10-24

5. Walking With Confidence: Safety Regulation for Full Order Biped Models;IEEE Robotics and Automation Letters;2019-10

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