Gray C. Thomas

TL;DR: A momentum-based control framework for floating-base robots and its application to the humanoid robot “Atlas” is presented and results for walking across rough terrain, basic manipulation, and multi-contact balancing on sloped surfaces are presented.

TL;DR: The paper presents the approach, as well as a bird's-eye view of the major software components and their integration of Team IHMC to win the DARPA Virtual Robotics Challenge (VRC).

TL;DR: This paper formulate a WBOSC for point-foot bipeds with series-elastic actuators (SEA) and experiment with it using a teen-size SEA biped robot and experimentally validate the efficacy of the new whole-body control and planning strategies via balancing over a disjointed terrain and attaining dynamic balance through continuous stepping without a mechanical support.

TL;DR: In this article, a linear feedback compensator is designed to attenuate the feedback of the exoskeleton's reflected dynamics at frequencies within the bandwidth of the control. But the compensator was designed to be robust to both a realistic variation in human impedance and a large variation in load impedance.

TL;DR: This paper presents a control scheme for ensuring that a 3D, under-actuated, point-foot biped robot remains balanced while walking by observing the center of mass (COM) position error relative to a reference path and re-planning a new reference trajectory to remove this error at every step.