3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization

SLIP Walking Over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program

(2021) Xiaobin Xiong et al.   IEEE Robotics and Automation Letters

Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds

(2021) Yanran Ding et al.   IEEE Transactions on Robotics

Contact-aided invariant extended Kalman filtering for robot state estimation

(2020) Ross Hartley et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model With Hybrid LIP Based Stepping

(2020) Xiaobin Xiong et al.   IEEE Robotics and Automation Letters

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

(2019) Xingye Da et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

Robot Leg Design: A Constructive Framework

(2018) Siavash Rezazadeh et al.   IEEE Access

Proprioceptive Actuator Design in the MIT Cheetah: Impact Mitigation and High-Bandwidth Physical Interaction for Dynamic Legged Robots

(2017) Patrick M. Wensing et al.   IEEE Transactions on Robotics

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

Low-bandwidth reflex-based control for lower power walking: 65 km on a single battery charge

(2014) Pranav A. Bhounsule et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

Discrete-Decision Continuous-Actuation Control: Balance of an Inverted Pendulum and Pumping a Pendulum Swing

(2014) Pranav A. Bhounsule et al.   JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME

The 3-D Spring–Mass Model Reveals a Time-Based Deadbeat Control for Highly Robust Running and Steering in Uncertain Environments

(2013) Albert Wu et al.   IEEE Transactions on Robotics

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