Cover Image

Dynamic Walking on Highly Underactuated Point Foot Humanoids: Closing the Loop between HZD and HLIP

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Ghansah, Adrian B., Kim, Jeeseop, Li, Kejun, Ames, Aaron D.
Format:	Preprint
Published:	2024
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots
by: Ghansah, Adrian B., et al.
Published: (2025)

Bracing for Impact: Robust Humanoid Push Recovery and Locomotion with Reduced Order Models
by: Yang, Lizhi, et al.
Published: (2025)

Reduced-Order Model Guided Contact-Implicit Model Predictive Control for Humanoid Locomotion
by: Esteban, Sergio A., et al.
Published: (2025)

Safety-critical Autonomous Inspection of Distillation Columns using Quadrupedal Robots Equipped with Roller Arms
by: Lee, Jaemin, et al.
Published: (2024)

Hybrid Data-Driven Predictive Control for Robust and Reactive Exoskeleton Locomotion Synthesis
by: Li, Kejun, et al.
Published: (2025)

Time-Varying Foot-Placement Control for Underactuated Humanoid Walking on Swaying Rigid Surfaces
by: Gao, Yuan, et al.
Published: (2024)

Synthesizing Robust Walking Gaits via Discrete-Time Barrier Functions with Application to Multi-Contact Exoskeleton Locomotion
by: Tucker, Maegan, et al.
Published: (2023)

Data-Driven Predictive Control for Robust Exoskeleton Locomotion
by: Li, Kejun, et al.
Published: (2024)

A Layered Control Perspective on Legged Locomotion: Embedding Reduced Order Models via Hybrid Zero Dynamics
by: Esteban, Sergio A., et al.
Published: (2025)

Chasing Stability: Humanoid Running via Control Lyapunov Function Guided Reinforcement Learning
by: Olkin, Zachary, et al.
Published: (2025)

Safety-critical Locomotion of Biped Robots in Infeasible Paths: Overcoming Obstacles during Navigation toward Destination
by: Lee, Jaemin, et al.
Published: (2024)

Walk the PLANC: Physics-Guided RL for Agile Humanoid Locomotion on Constrained Footholds
by: Dai, Min, et al.
Published: (2026)

Robust Adaptive Safe Robotic Grasping with Tactile Sensing
by: Kim, Yitaek, et al.
Published: (2024)

RoMoCo: Robotic Motion Control Toolbox for Reduced-Order Model-Based Locomotion on Bipedal and Humanoid Robots
by: Dai, Min, et al.
Published: (2025)

CLF-RL: Control Lyapunov Function Guided Reinforcement Learning
by: Li, Kejun, et al.
Published: (2025)

Chasing Autonomy: Dynamic Retargeting and Control Guided RL for Performant and Controllable Humanoid Running
by: Olkin, Zachary, et al.
Published: (2026)

Terrain Consistent Reference-Guided RL for Humanoid Navigation Autonomy
by: Compton, William D., et al.
Published: (2026)

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics
by: Yang, Lizhi, et al.
Published: (2025)

CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks
by: Li, Yixuan, et al.
Published: (2025)

Architecture Is All You Need: Diversity-Enabled Sweet Spots for Robust Humanoid Locomotion
by: Werner, Blake, et al.
Published: (2025)

Perceptive Mixed-Integer Footstep Control for Underactuated Bipedal Walking on Rough Terrain
by: Acosta, Brian, et al.
Published: (2025)

Iterative Closed-Loop Motion Synthesis for Scaling the Capabilities of Humanoid Control
by: Xu, Weisheng, et al.
Published: (2026)

CLOT: Closed-Loop Global Motion Tracking for Whole-Body Humanoid Teleoperation
by: Zhu, Tengjie, et al.
Published: (2026)

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control
by: Dai, Min, et al.
Published: (2025)

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control
by: Olkin, Zachary, et al.
Published: (2025)

ECO: Energy-Constrained Optimization with Reinforcement Learning for Humanoid Walking
by: Huang, Weidong, et al.
Published: (2026)

Analytical Model and Experimental Testing of the SoftFoot: an Adaptive Robot Foot for Walking over Obstacles and Irregular Terrains
by: Piazza, Cristina, et al.
Published: (2024)

High-Precision and High-Efficiency Trajectory Tracking for Excavators Based on Closed-Loop Dynamics
by: Zou, Ziqing, et al.
Published: (2025)

MIRROR: Visual Motion Imitation via Real-time Retargeting and Teleoperation with Parallel Differential Inverse Kinematics
by: Li, Junheng, et al.
Published: (2026)

Geometry-Aware Predictive Safety Filters on Humanoids: From Poisson Safety Functions to CBF Constrained MPC
by: Bena, Ryan M., et al.
Published: (2025)

Revisiting Reward Design and Evaluation for Robust Humanoid Standing and Walking
by: van Marum, Bart, et al.
Published: (2024)

Locomotion Dynamics of an Underactuated Three-Link Robotic Vehicle
by: Raz, Leonid, et al.
Published: (2024)

Learning Bipedal Locomotion on Gear-Driven Humanoid Robot Using Foot-Mounted IMUs
by: Katayama, Sotaro, et al.
Published: (2025)

Dynamic Safety in Complex Environments: Synthesizing Safety Filters with Poisson's Equation
by: Bahati, Gilbert, et al.
Published: (2025)

Bilevel Optimization for Real-Time Control with Application to Locomotion Gait Generation
by: Olkin, Zachary, et al.
Published: (2024)

Dynamically Feasible Path Planning in Cluttered Environments via Reachable Bezier Polytopes
by: Csomay-Shanklin, Noel, et al.
Published: (2024)

Robust Humanoid Walking on Compliant and Uneven Terrain with Deep Reinforcement Learning
by: Singh, Rohan P., et al.
Published: (2025)

Unified Walking, Running, and Recovery for Humanoids via State-Dependent Adversarial Motion Priors
by: Lu, Yidan, et al.
Published: (2026)

On-Line Learning for Planning and Control of Underactuated Robots with Uncertain Dynamics
by: Turrisi, Giulio, et al.
Published: (2025)

Toward An Analytic Theory of Intrinsic Robustness for Dexterous Grasping
by: Li, Albert H., et al.
Published: (2024)