Combining trajectory optimization, supervised machine learning, and model structure for mitigating the curse of dimensionality in the control of bipedal robots

Immersion and Invariance Stabilization of Nonlinear Systems Via Virtual and Horizontal Contraction

(2017) Lei Wang et al.   IEEE TRANSACTIONS ON AUTOMATIC CONTROL

Nonholonomic virtual constraints and gait optimization for robust walking control

(2017) Brent Griffin et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

Parameter to state stability of control Lyapunov functions for hybrid system models of robots

(2017) Shishir Kolathaya et al.   Nonlinear Analysis-Hybrid Systems

First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons

(2017) Ayush Agrawal et al.   IEEE Access

From 2D Design of Underactuated Bipedal Gaits to 3D Implementation: Walking With Speed Tracking

(2016) Xingye Da et al.   IEEE Access

Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot

(2015) Scott Kuindersma et al.   AUTONOMOUS ROBOTS

Exponentially stabilizing continuous-time controllers for periodic orbits of hybrid systems: Application to bipedal locomotion with ground height variations

(2015) Kaveh Akbari Hamed et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

Models, feedback control, and open problems of 3D bipedal robotic walking

(2014) Jessy W. Grizzle et al.   AUTOMATICA

Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics

(2014) Aaron D. Ames et al.   IEEE TRANSACTIONS ON AUTOMATIC CONTROL

Human-Inspired Control of Bipedal Walking Robots

(2014) Aaron D. Ames   IEEE TRANSACTIONS ON AUTOMATIC CONTROL

Virtual Constraint Control of a Powered Prosthetic Leg: From Simulation to Experiments With Transfemoral Amputees

(2014) Robert D. Gregg et al.   IEEE Transactions on Robotics

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

(2014) Anne E. Martin et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

A Finite-State Machine for Accommodating Unexpected Large Ground-Height Variations in Bipedal Robot Walking

(2013) Hae-Won Park et al.   IEEE Transactions on Robotics

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

Performance Analysis and Feedback Control of ATRIAS, A Three-Dimensional Bipedal Robot

(2013) Alireza Ramezani et al.   JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME

Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid

(2012) Jerry Pratt et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models

(2012) Twan Koolen et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

Biped walking control using a trajectory library

(2012) Chenggang Liu et al.   ROBOTICA

Stability analysis and time-varying walking control for an under-actuated planar biped robot

(2011) Ting Wang et al.   ROBOTICS AND AUTONOMOUS SYSTEMS

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

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

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

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