Leveraging Saltation Matrices for Gait Optimization - ICRA 2023

Safety-Critical Manipulation for Collision-Free Food Preparation

Safety-Aware Preference-Based Learning for Safety-Critical Control - L4DC 2022

Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies

ICRA2022 - Learning Controller Gains on Bipedal Walking Robots via User Preferences

Onboard Safety Guarantees for Racing Drones: High-speed Geofencing with Control Barrier Functions

Natural Multicontact Walking via Musculoskeletal Models on AMPRO3

Towards Variable Assistance for Lower Body Exoskeletons: Supplemental Video

Quadrupedal Locomotion with Coupled Control Lyapunov Functions

Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking: Supplemental Video

Region of Interest Active Learning for Characterizing Exo Preference Landscapes: Supplemental Video

Learning to Control an Unstable System with One Minute of Data: Supplemental Video

Preference-Based Learning for User-Guided HZD Gait Generation on Bipedal Robots: Supplemental Video

Preference-Based Learning on Lower-Body Exoskeletons

Cassie: Dynamic Walking with Compliance

Dynamic Exoskeleton Walking for Restored Mobility

DURUS Walks like a Human

Bipedal Robotic Running on DURUS-2D

Dynamic Walking on DURUS (aka PROXI) at the 2015 DRC Finals

Introducing: DURUS-2D

Multi-Contact Prosthesis Walking with AMPRO

AMPRO: Realizing Nonlinear Controllers on Prosthesis

Introducing AMPRO: Translating Robotic Locomotion to Powered Transfemoral Prosthesis

Robustness Tests on the Bipedal Robot AMBER 2

Dynamic Robotic Dancing

Daily Planet Feature on AMBER Lab

Valkyrie - Cinder Block

Human-Like Multi-Contact Walking with AMBER 2

Dynamic Multi-Domain Bipedal Walking with ATRIAS

Quadratic Programs + Impedance Control for Prosthesis

Robotic Walking with AMBER 2.0

Impedance Control for Lower-Limb Prostheses

Speed Regulated Robotic Walking on NAO

Robotic Walking with Control Lyapunov Functions

First Human-Inspired Robotic Walking with AMBER 2.0

Bipedal Robot AMBER 2.0 Featured on EngineeringTV

AMBER 2.0 Spotlighted at NI Week

Hands-On Robotics for Education: Presentation

Hands-On Robotics for Education: Highlights

Bipedal Walking with a Compass Gait Robot

Robustness Tests on the Bipedal Robot AMBER

AMBER Walking with Human-Inspired Control

NAO: First Human-Inspired Robotic Walking

Zeno Behavior: Experimentation vs Simulation

AMBER's First Steps

Robotic Walking with Feet Experiment with AMBER

First Walking Experiment with AMBER

First Steps Toward Automatically Generating Bipedal Robotic Walking from Human Data

Amber: Initial Construction

Presentation at Dynamic Walking 2010 (MIT)

NASA Seminar on Bipedal Robots

Human-Inspired Robotic Walking: Unknown Disturbances in Terrain

Human-Inspired 2D Bipedal Robotic Walking

3D Walking with Knees and Feet

Knee-Bounce: Real and Simulated

Knee-Lock: Real and Simulated

McGeer and Passive Dynamic Bipedal Walking