Design and experimental implementation of a hybrid zero dynamics-based controller for planar bipeds with curved feet

Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL

(2013) Koushil Sreenath et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

Identification of a Bipedal Robot with a Compliant Drivetrain

(2011)   IEEE CONTROL SYSTEMS MAGAZINE

Energy-Efficiency-Based Gait Control System Architecture and Algorithm for Biped Robots

(2011) Zhi Liu et al.   IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND RE

Stable dynamic walking over uneven terrain

(2011) Ian R Manchester et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

LQR-trees: Feedback Motion Planning via Sums-of-Squares Verification

(2010) Russ Tedrake et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

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

(2010) Koushil Sreenath et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

A framework for the control of stable aperiodic walking in underactuated planar bipeds

(2009) T. Yang et al.   AUTONOMOUS ROBOTS

Asymptotically Stable Walking of a Five-Link Underactuated 3-D Bipedal Robot

(2009) C. Chevallereau et al.   IEEE Transactions on Robotics

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

(2008) T. Yang et al.   AUTONOMOUS ROBOTS

Low-Dimensional Sagittal Plane Model of Normal Human Walking

(2008) S. Srinivasan et al.   JOURNAL OF BIOMECHANICAL ENGINEERING-TRANSACTIONS OF THE ASME

Effect of circular arc feet on a control law for a biped

(2008) T. Kinugasa et al.   ROBOTICA