The field of preview control has attracted many researchers for its applications in guidance
of autonomous vehicles, robotics, and process control, as this field is well suited for use in …

Our research utilized deep learning to enhance the control of a 3 Degrees of Freedom biped
robot leg. We created a dynamic model based on a detailed joint angles and actuator …

This paper presents a trajectory generator and an active compliance control scheme, unified
in a framework to synthesize dynamic, feasible and compliant trot-walking locomotion cycles …

This paper presents a reference generation technique for bounding quadruped locomotion.
Synthesis of the reference is carried out by forming contact forces. Contact forces are …

Autonomous legged navigation in unstructured environments is still an open problem which
requires the ability of an intelligent agent to detect and react to potential obstacles found in …

The main contributions of this MS Thesis is centered around taking steps towards successful
multi-modal demonstrations using Northeastern's legged-aerial robot, Husky Carbon. This …

In this study, we applied deep learning to improve the control of a KUKA LBR4 7 Degrees of
Freedom (DOF) robotic arm. We developed a dynamic model using a comprehensive …

This paper proposed a control algorithm that guarantees gait tracking performance for
quadruped robots. During dynamic gait motion, such as trotting, the quadruped robot is …

Quadruped robots have gained attention for their potential to navigate various terrains.
However, the stability of these robots in different gait sequences remains an open question …

The goal of this paper is to develop a unified online motion generation scheme for
quadruped lateral-sequence walk and trot gaits based on a linear model predictive control …