Christian Hubicki

TL;DR: This paper presents a methodology that allows for the fast and reliable generation of efficient multi-contact robotic walking gaits through the framework of HZD, even in the presence of underactuation, and experimentally validated the methodology on the spring-legged prototype humanoid, DURUS, showing that the optimization approach yields dynamic and stable 3D walking Gaits.

TL;DR: The design and validation of a spring-mass robot that can operate in real-world settings (i.e. off-tether and without planarizing restraints) is presented, demonstrating that this theoretical model has practical potential for real- world locomotion.

TL;DR: A methodology that allows for fast and reliable generation of dynamic robotic walking gaits through the HZD framework, even in the presence of underactuation, and develops a defect-variable substitution formulation to simplify expressions, which ultimately allows for compact analytic Jacobians of the constraints.

TL;DR: It is suggested that running ground birds target the closely coupled priorities of economy and leg safety as the direct imperatives of control, with adequate stability achieved through appropriately tuned intrinsic dynamics.

TL;DR: In this paper, a reduced-order approach for dynamic and efficient bipedal control is presented, culminating in 3D balancing and walking with ATRIAS, a heavily underactuated robot.