Video Gallery

Underactuated Bipedal Walking

Blind Walking on Undesired Terrain

Versatile Walking

Directional Walking

Global Position Control

Robust Walking

Bipedal Hopping

Reduced Order Models & Humanoid Walking Embedding

SLIP Walking on Rough and Challenging Terrains

Some Archived Conference Presentations with Videos

Dynamic Walking 2022, Wisconsin-Madison, Video (presented by Min). Topic: Data-driven Step-to-step Dynamics based Robust and Adaptive Bipedal Robotic Walking.

CDC 2021 (virtual), Video, Paper: Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation

ICRA 2021 (virtual), Video, Paper: Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning

ICRA 2021 (virtual), Video, Paper: SLIP Walking over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program

IROS 2020 (virtual), Video, Paper: Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model With Hybrid LIP Based Stepping

IROS 2020 (virtual), Video, Paper: Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with TaskSpace Control

Dynamic Walking 2019, Canmore, Canada, Video, Topic: Continuous Gait Generation for 3D Underactuated Bipedal Walking via Hybrid Linear Inverted Pendulum Model.

Misc. Fun Projects