Robustness and efficiency insights from a mechanical coupling metric for ankle-actuated biped robots

Terrain-blind walking of planar underactuated bipeds via velocity decomposition-enhanced control

(2019) Martin Fevre et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

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

(2016) Xingye Da et al.   IEEE Access

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

Event-Based Stabilization of Periodic Orbits for Underactuated 3-D Bipedal Robots With Left-Right Symmetry

(2013) Kaveh Akbari Hamed 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

From stable walking to steering of a 3D bipedal robot with passive point feet

(2012) Ching-Long Shih et al.   ROBOTICA

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

(2009) T. Yang et al.   AUTONOMOUS ROBOTS

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

(2009) I. Poulakakis 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

Reduction-based Control of Three-dimensional Bipedal Walking Robots

(2009) Robert D. Gregg et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

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

(2008) T. Yang et al.   AUTONOMOUS ROBOTS

Powered ankle-foot prosthesis

(2008) Samuel Au et al.   IEEE ROBOTICS & AUTOMATION MAGAZINE