Research paper
Robust constraints for moving-stone bipedal walking
A quadratic-program controller enforces time-varying foot placement, torque and contact-force constraints under bounded model error. Numerical RABBIT biped results include an unknown torso load as large as47% of robot mass.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Optimal Robust Time-Varying Safety-Critical Control With Application to Dynamic Walking on Moving Stepping Stones
- Publisher
- American Society of Mechanical Engineers
- Authors
- Quan Nguyen, Koushil Sreenath
- DOI
- 10.1115/dscc2016-9910
- Proceedings publication date
- 2016-10-12
- Source language
- en
- Source country
- US
- Edition
- Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control
- Access
- Public bibliography and abstract
- Publication status
- Published
Source overview
A quadratic-program controller enforces time-varying foot placement, torque and contact-force constraints under bounded model error. Numerical RABBIT biped results include an unknown torso load as large as47% of robot mass.
Use and review
The reviewed evidence is numerical or simulation based. Physical robot behavior, perception failures and implementation timing require separate validation.
Sources & editions
Optimal Robust Time-Varying Safety-Critical Control With Application to Dynamic Walking on Moving Stepping Stones ↗
American Society of Mechanical Engineers · Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control
Publisher-deposited abstract and distinct print2016-10-12/online2017-02-15 dates checked; landing403. Physical robot experiment not claimed.