In this letter, we propose an efficient approach to generate dynamic and versatile humanoid walking with non-constant center of mass (COM) height. We exploit the benefits of using reduced order models ...

This paper focuses on chaos control of a seven-link torque-stiffness-controlled dynamic walking model, actuated by a bio-inspired control system. The biped consists of compliant hip, knee and ankle ...

After implementation, we found two issues with training cache: backward is too slow: solved by optimizing kernels and replacing with cub calls in HKV. evict times > missed items when ...