Optimization and Control of Cyclic Biped Locomotion on a Rolling Cylinder
This project investigates the optimization of, and presents a control framework for, a biped robot to maintain balance and walk on a rolling ball.
Ball Walker: A Case Study of Humanoid Robot Locomotion in Non-stationary Environments
This paper presents a control framework for a biped robot to maintain balance and walk on a rolling ball. The control framework consists of two primary components: a balance controller and a footstep planner.
Sehoon Ha
Seungmoon Song
Michael Yip
Yu Zheng
Joohyung Kim
Moritz Bächer
Ruta Desai
Peter Whitney
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