Oluwami Dosunmu-Ogunbi
Papers
4
Total Citations
59
H-Index
3
About
Oluwami Dosunmu-Ogunbi is a robotics researcher specializing in bipedal locomotion control, with a particular focus on enabling legged robots to navigate complex, real-world terrains with agility and robustness. His work centers on the Angular Momentum Linear Inverted Pendulum (ALIP) model, a powerful framework that uses angular momentum and foot placement as state variables to dramatically expand the control possibilities for bipedal systems. By integrating ALIP with Model Predictive Control (MPC) and virtual constraints, Dosunmu-Ogunbi has developed terrain-adaptive gait controllers capable of responding to local slope variations and friction cone constraints — critical factors that, when ignored, can cause robots to trip or lose footing entirely. His 2022 paper on terrain-adaptive ALIP-based locomotion has garnered 42 citations, reflecting significant community interest in his approach. Further extending this framework, his research on stair climbing demonstrates the versatility of ALIP-based control in tackling structured environmental challenges. Across his body of work, totaling nearly 60 citations, Dosunmu-Ogunbi has established himself as an emerging contributor to the field of dynamic legged locomotion, bridging theoretical control design with practical robotic deployment in unstructured environments.
Research Focus
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Top Papers
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