Advanced Legged Robotics

Legged locomotion, which exhibits unstable nonlinear dynamics coupled with discrete switching behavior, provides a quintessential example of such complex dynamical systems. Legged robots have long held the promise of navigating terrain not accessible by wheeled robots, yet, demonstrating dynamically stable locomotion that is as agile and robust as humans remains a challenging task. Realizing such dynamic maneuvers requires one to face complexities inherent in legged robots in the form of highly nonlinear, underactuated dynamics and the unilateral nature of the ground contact. From a broader perspective, the study of bipedal locomotion presents a unique opportunity for multiple disciplines to coalesce and make fundamental scientific contributions realizable on novel robotic platforms. The understanding of bipedal locomotion allows for the design and control of the next generation of exoskeletons and prostheses, with the potential for a dramatic impact on the quality of life of millions of disabled persons. This transformative research will be driven by real-world applications that founded on rigorous mathematical principles. We will experimentally demonstrate dynamic and versatile motions on advanced robotic platforms to achieve unprecedented performance that exceeds perceived limitations.

Related Publications

Castillo, G., Weng, B., Hereid, A. and Zhang, W.
Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learning
Submitted to IEEE International Conference on Robotics and Automation (ICRA)2020

[arXiv] [Video]


Hereid, A., Harib, O., Hartley, R., Gong, Y. and Grizzle, J. W.
Rapid trajectory optimization using C-FROST with illustration on a cassie-series dynamic walking biped
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019

[arXiv] [Video]


Hereid, A., Hubicki, C. M., Cousineau, E. A. and Ames, A. D.
Dynamic humanoid locomotion: a scalable formulation for HZD gait optimization
IEEE Transactions on Robotics (T-RO), 2018, Vol. 34(2), pp. 370-387

[DOI] [Video 1] [Video 2]


Zhao, H., Hereid, A., Ma, W. and Ames, A. D.
Multi-contact bipedal robotic locomotion
Robotica, 2017, Vol. 35(5), pp. 1072-1106

[DOI]


Hubicki, C., Hereid, A., Grey, M., Thomaz, A. and Ames, A.
Work those arms: toward dynamic and stable humanoid walking that optimizes full-body motion
IEEE International Conference on Robotics and Automation (ICRA), 2016, pp. 1552-1559

[DOI


Ma, W.-l., Hereid, A., Hubicki, C. M. and Ames, A. D.
Efficient HZD gait generation for three-dimensional underactuated humanoid running
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, pp. 5819-5825

[DOI]


Nguyen, Q., Hereid, A., Sreenath, K., Grizzle, J. W. and Ames, A. D.
3D dynamic walking on stepping stones with control barrier functions
IEEE Conference on Decision and Control (CDC), 2016, pp. 827-834

[DOI] [Video]


Reher, J., Cousineau, E. A., Hereid, A., Hubicki, C. M. and Ames, A. D.
Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS
IEEE International Conference on Robotics and Automation (ICRA), 2016, pp. 1794-1801

[DOI] [Video]


Reher, J. P., Hereid, A., Kolathaya, S., Hubicki, C. M. and Ames, A. D.
Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS
International Workshop on the Algorithmic Foundations of Robotics (WAFR), 2016

[URL] [Video]