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Creators/Authors contains: "Harib, Omar"

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  1. ; ; ; ; (, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems)
    One of the big attractions of low-dimensional models for gait design has been the ability to compute solutions rapidly, whereas one of their drawbacks has been the difficulty in mapping the solutions back to the target robot. This paper presents a set of tools for rapidly determining solutions for “humanoids” without removing or lumping degrees of freedom. The main tools are: (1) C-FROST, an open-source C++ interface for FROST, a direct collocation optimization tool; and (2) multithreading. The results will be illustrated on a 20-DoF floatingbase model for a Cassie-series bipedal robot through numerical calculations and physical experiments. 
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    Full Text Available 
  2. ; ; ; ; ; ; (, Proceedings of the American Control Conference)
    The Cassie bipedal robot designed by Agility Robotics is providing academics with a common platform for sharing and comparing algorithms for locomotion, perception, and navigation. This paper focuses on feedback control for standing and walking using the methods of virtual constraints and gait libraries. The designed controller was implemented six weeks after the robot arrived at the University of Michigan and allowed it to stand in place as well as walk over sidewalks, grass, snow, sand, and burning brush. The controller for standing also enables the robot to ride a Segway. Software supporting the work in this paper is available on GitHub. 
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    Accepted Manuscript Full Text Available