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In this paper, we present a sequential motion planning and control method for generating somersaults on bipedal robots.
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P. M. Wensing and D. E. Orin, “Generation of dynamic humanoid behaviors through task-space control with conic optimization,” in 2013 IEEE International Conference on Robotics and Automation . IEEE, 2013, pp. 3103–3109
2013
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T. Tamada, W. Ikarashi, D. Yoneyama, K. Tanaka, Y. Yamakawa, T. Senoo, and M. Ishikawa, “High-speed bipedal robot running using high-speed visual feedback,” in 2014 IEEE-RAS International Conference on Humanoid Robots . IEEE, 2014, pp. 140–145
2014
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M. Posa, C. Cantu, and R. Tedrake, “A direct method for trajectory optimization of rigid bodies through contact,” The International Journal of Robotics Research , vol. 33, no. 1, pp. 69–81, 2014
2014
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“What’s new, atlas?, boston dynamics,” in https://www.youtube.com/watch?v=fRj34o4hN4I , 2018
2018
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X. B. Peng, P. Abbeel, S. Levine, and M. van de Panne, “Deepmimic: Example-guided deep reinforcement learning of physics-based character skills,” ACM Transactions on Graphics (TOG) , vol. 37, no. 4, pp. 1–14, 2018
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Y. Ding, C. Li, and H.-W. Park, “Single leg dynamic motion planning with mixed-integer convex optimization,” in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . IEEE, 2018, pp. 1–6
2018
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X. Xiong and A. D. Ames, “Coupling reduced order models via feedback control for 3d underactuated bipedal robotic walking,” in 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) . IEEE, 2018, pp. 1–9
2018
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J. W. Grizzle, C. Chevallereau, R. W. Sinnet, and A. D. Ames, “Models, feedback control, and open problems of 3d bipedal robotic walking,” Automatica , vol. 50, no. 8, pp. 1955–1988, 2014
2014
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A. D. Ames, K. Galloway, K. Sreenath, and J. W. Grizzle, “Rapidly exponentially stabilizing control lyapunov functions and hybrid zero dynamics,” IEEE Transactions on Automatic Control , vol. 59, no. 4, pp. 876–891, 2014
2014
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A. Escande, N. Mansard, and P.-B. Wieber, “Hierarchical quadratic programming: Fast online humanoid-robot motion generation,” The International Journal of Robotics Research , vol. 33, no. 7, pp. 1006–1028, 2014
2014
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H. Ferreau, C. Kirches, A. Potschka, H. Bock, and M. Diehl, “qpOASES: A parametric active-set algorithm for quadratic programming,” Mathematical Programming Computation , vol. 6, no. 4, pp. 327–363, 2014
2014
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A. Hereid, E. A. Cousineau, C. M. Hubicki, and A. D. Ames, “3d dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics,” in Robotics and Automation (ICRA), 2016 IEEE International Conference on . IEEE, 2016, pp. 1447–1454
2016
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T. Koolen, S. Bertrand, G. Thomas, T. De Boer, T. Wu, J. Smith, J. Englsberger, and J. Pratt, “Design of a momentum-based control framework and application to the humanoid robot atlas,” International Journal of Humanoid Robotics , vol. 13, no. 01, p. 1650007, 2016
2016
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P. F. Christiano, J. Leike, T. Brown, M. Martic, S. Legg, and D. Amodei, “Deep reinforcement learning from human preferences,” in Advances in Neural Information Processing Systems , 2017, pp. 4299–4307
2017
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2017
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Z. Xie, G. Berseth, P. Clary, J. Hurst, and M. van de Panne, “Feedback control for cassie with deep reinforcement learning,” in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . IEEE, 2018, pp. 1241–1246
2018
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2018
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2018
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B. Katz, J. Carlo, and S. Kim, “Mini cheetah: A platform for pushing the limits of dynamic quadruped control,” in Robotics and Automation (ICRA), 2019 IEEE International Conference on . IEEE
2019
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“Aliengo robot new progress: backflip etc., unitree robotics,” in https://www.youtube.com/watch?v=Ayxoji2xg3k , 2019
2019
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B. Stephens, S. Kuindersma, and A. Saunders, “Atlas’s day out,” Dynamic Walking Conference , 2019
2019
Later among the works it cites.
X. Xiong and A. D. Ames, “Orbit characterization, stabilization and composition of 3d underactuated bipedal walking via hybrid passive linear inverted pendulum model,” in 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
2019
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T. Westenbroek, X. Xiong, A. D. Ames, and S. S. Sastry, “Optimal control of piecwise-smooth control systems via singular perturbations,” in IEEE Conference on Decision and Control (CDC) , 2019
2019
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X. Xiong and A. D. Ames, “Dynamic and versatile humanoid walking via embedding 3d actuated slip model with hybrid lip based stepping,” IEEE Robotics and Automation Letters , 2020
2020
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