A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL

Transverse Linearization for Controlled Mechanical Systems With Several Passive Degrees of Freedom

(2010) A.S. Shiriaev et al.   IEEE TRANSACTIONS ON AUTOMATIC CONTROL

The Spring Loaded Inverted Pendulum as the Hybrid Zero Dynamics of an Asymmetric Hopper

(2009) I. Poulakakis et al.   IEEE TRANSACTIONS ON AUTOMATIC CONTROL

Hybrid Invariant Manifolds in Systems With Impulse Effects With Application to Periodic Locomotion in Bipedal Robots

(2009) B. Morris et al.   IEEE TRANSACTIONS ON AUTOMATIC CONTROL

Built for speed: musculoskeletal structure and sprinting ability

(2009) S. S. M. Lee et al.   JOURNAL OF EXPERIMENTAL BIOLOGY

Overview of the Lucy Project: Dynamic Stabilization of a Biped Powered by Pneumatic Artificial Muscles

(2008) Bram Vanderborght et al.   ADVANCED ROBOTICS

Design and control of a planar bipedal robot ERNIE with parallel knee compliance

(2008) T. Yang et al.   AUTONOMOUS ROBOTS

Development of a compliance controller to reduce energy consumption for bipedal robots

(2008) Bram Vanderborght et al.   AUTONOMOUS ROBOTS

Series compliance for an efficient running gait

(2008) Jonathan Hurst et al.   IEEE ROBOTICS & AUTOMATION MAGAZINE

Ankle Actuation for Limit Cycle Walkers

(2008) D.G.E. Hobbelen et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

Bipedal walking and running with spring-like biarticular muscles

(2007) Fumiya Iida et al.   JOURNAL OF BIOMECHANICS