High-speed bounding with the MIT Cheetah 2: Control design and experiments

Improved Computation of the Humanoid Centroidal Dynamics and Application for Whole-Body Control

(2016) Patrick M. Wensing et al.   International Journal of Humanoid Robotics

Efficient recursive dynamics algorithms for operational-space control with application to legged locomotion

(2015) Patrick M. Wensing et al.   AUTONOMOUS ROBOTS

Design Principles for Energy-Efficient Legged Locomotion and Implementation on the MIT Cheetah Robot

(2015) Sangok Seok et al.   IEEE-ASME TRANSACTIONS ON MECHATRONICS

Towards versatile legged robots through active impedance control

(2015) Claudio Semini et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

Toward Combining Speed, Efficiency, Versatility, and Robustness in an Autonomous Quadruped

(2014) Marco Hutter et al.   IEEE Transactions on Robotics

Quadrupedal locomotion using hierarchical operational space control

(2014) Marco Hutter 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

Quadruped robot trotting over irregular terrain assisted by stereo-vision

(2014) Stéphane Bazeille et al.   Intelligent Service Robotics

Centroidal dynamics of a humanoid robot

(2013) David E. Orin et al.   AUTONOMOUS ROBOTS

Optimal distribution of contact forces with inverse-dynamics control

(2013) Ludovic Righetti et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

Planning contact points for humanoid robots

(2013) Adrien Escande et al.   ROBOTICS AND AUTONOMOUS SYSTEMS

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

High speed galloping in the cheetah (Acinonyx jubatus) and the racing greyhound (Canis familiaris): spatio-temporal and kinetic characteristics

(2012) P. E. Hudson et al.   JOURNAL OF EXPERIMENTAL BIOLOGY

Design of HyQ – a hydraulically and electrically actuated quadruped robot

(2011) C Semini et al.   PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING

Compliant Control of Multicontact and Center-of-Mass Behaviors in Humanoid Robots

(2010) Luis Sentis et al.   IEEE Transactions on Robotics

Learning, planning, and control for quadruped locomotion over challenging terrain

(2010) Mrinal Kalakrishnan 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

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

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

Stability Analysis of Passive Dynamic Walking of Quadrupeds

(2009) C. David Remy et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

Using optimization to create self-stable human-like running

(2008) Katja Mombaur   ROBOTICA

Steady locomotion in dogs: temporal and associated spatial coordination patterns and the effect of speed

(2007) L. D. Maes et al.   JOURNAL OF EXPERIMENTAL BIOLOGY