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Found 5 papers, 2 papers with code
Adaptive Feedback Regulator for Powered Lower-Limb Exoskeleton under Model Uncertainty
This paper proposes a neural network (NN) based online adaptive regulator that compensates for the unknown changes in model parameters and external disturbances by modifying the nominal joint trajectory.
Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes
In this paper, with a view toward deployment of light-weight control frameworks for bipedal walking robots, we realize end-foot trajectories that are shaped by a single linear feedback policy.
Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learning
This paper presents a novel model-free reinforcement learning (RL) framework to design feedback control policies for 3D bipedal walking.
Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway
The Cassie bipedal robot designed by Agility Robotics is providing academics a common platform for sharing and comparing algorithms for locomotion, perception, and navigation.
Robotics Optimization and Control
Rapid Trajectory Optimization Using C-FROST with Illustration on a Cassie-Series Dynamic Walking Biped
One of the big attractions of low-dimensional models for gait design has been the ability to compute solutions rapidly, whereas one of their drawbacks has been the difficulty in mapping the solutions back to the target robot.
Robotics Systems and Control
