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3D Dynamic Walking on Stepping Stones with Control Barrier ...

3D Dynamic Walking on Stepping Stones with Control BarrierFunctionsQuan Nguyen1, Ayonga Hereid2, Jessy W. Grizzle3, Aaron D. Ames2, Koushil Sreenath1 Abstract 3D dynamical Walking subject to precise footstepplacements is crucial for navigating real world terrain with dis-crete footholds. We present a novel methodology that combinescontrol Lyapunov functions to achieve periodic Walking andcontrol Barrier functions to enforce strict constraints on steplength and step width unified in a single optimization-basedcontroller. We numerically validate our proposed method bydemonstrating Dynamic 3D Walking at m/s on DURUS, a23 degree-of-freedom underactuated humanoid INTRODUCTIONThe primary advantage of legged locomotion on roboticsystems is the ability to traverse terrain not acc

3D Dynamic Walking on Stepping Stones with Control Barrier Functions Quan Nguyen1, Ayonga Hereid 2, Jessy W. Grizzle3, Aaron D. Ames , Koushil Sreenath1 Abstract—3D dynamical walking subject to precise footstep placements is crucial for navigating real world terrain with dis-

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