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Global position control for underactuated bipedal walking is a challenging problem due to the lack of actuation on the feet of the robots.
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Y.-M. Chen and M. Posa, “Optimal reduced-order modeling of bipedal locomotion,” in 2020 IEEE International Conference on Robotics and Automation (ICRA) , pp. 8753–8760
2020
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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 , vol. 5, no. 4, pp. 6286–6293, 2020
2020
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2020
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2021
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X. Xiong and A. Ames, “Slip walking over rough terrain via h-lip stepping and backstepping-barrier function inspired quadratic program,” IEEE Robotics and Automation Letters , 2021
2021
Closest in time.