Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical
reality. This is due to continued progress in three key areas: a mathematical understanding …

The state-of-the-art reinforcement learning (RL) techniques have made innumerable
advancements in robot control, especially in combination with deep neural networks …

This paper addresses the problem of exponentially stabilizing periodic orbits in a special
class of hybrid models-systems with impulse effects-through control Lyapunov functions. The …

The fields of control and robotics are working toward the development of bipedal robots that
can realize walking motions with the stability and agility of a human being. Dynamic models …

The planar bipedal testbed MABEL contains springs in its drivetrain for the purpose of
enhancing both energy efficiency and agility of dynamic locomotion. While the potential …

Soft robots have the potential to significantly change the way that robots interact with the
environment and with humans. However, accurately modeling soft robot dynamics in order …

We present a new approach for transfer of dynamic robot control policies such as biped
locomotion from simulation to real hardware. Key to our approach is to perform system …

This paper presents a novel method to address the actuator saturation for nonlinear hybrid
systems by directly incorporating user-defined input bounds in a controller design. In …

A mathematical formalism for designing running gaits in bipedal robots with compliance is
introduced and subsequently validated experimentally on MABEL, a planar biped that …

Analysis and controller design methods abound in the literature for planar (also known as 2-
D) bipedal models. This paper takes one of them developed for underactuated bipeds and …