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Adrian B. Ghansah

Reduced-Order Model Guided Contact-Implicit Model Predictive Control for Humanoid Locomotion

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Feb 21, 2025
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Dynamic Walking on Highly Underactuated Point Foot Humanoids: Closing the Loop between HZD and HLIP

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Jun 19, 2024
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Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics

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Aug 21, 2023
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