Data-Driven Adaptation for Robust Bipedal Locomotion with Step-to-Step Dynamics
Min Dai,Xiaobin Xiong,Jaemin Lee,Aaron D. Ames,Min Dai,Xiaobin Xiong,Jaemin Lee,Aaron D. Ames
This paper presents an online framework for synthesizing agile locomotion for bipedal robots that adapts to unknown environments, modeling errors, and external disturbances. To this end, we leverage step-to-step (S2S) dynamics which has proven effective in realizing dynamic walking on underactuated robots-assuming known dynamics and environments. This paper considers the case of uncertain models a...
