Nonholonomic virtual constraints and gait optimization for robust walking control

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

Selecting gaits for economical locomotion of legged robots

(2015) Weitao Xi et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

Controlled Invariants and Trajectory Planning for Underactuated Mechanical Systems

(2014) Anton S. Shiriaev et al.   IEEE TRANSACTIONS ON AUTOMATIC CONTROL

The effects of foot geometric properties on the gait of planar bipeds walking under HZD-based control

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

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

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

High speed trot-running: Implementation of a hierarchical controller using proprioceptive impedance control on the MIT Cheetah

(2014) Dong Jin Hyun et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

Evidence for a Time-Invariant Phase Variable in Human Ankle Control

(2014) Robert D. Gregg et al.   PLoS One

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

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

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

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

(2012) Ching-Long Shih et al.   ROBOTICA

Stable dynamic walking over uneven terrain

(2011) Ian R Manchester 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

Metastable Walking Machines

(2009) Katie Byl et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

Swing-Leg Retraction for Limit Cycle Walkers Improves Disturbance Rejection

(2008) D.G.E. Hobbelen et al.   IEEE Transactions on Robotics

Ankle Actuation for Limit Cycle Walkers

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