Biped robot

The 3D linear inverted pendulum mode: a simple modeling for a biped walking pattern generation

Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kazuhito Yokoi, Hirohisa Hirukawa

Citations: 1036 • 2002

Asymptotically stable walking for biped robots: analysis via systems with impulse effects

J.W. Grizzle, Gabriel Abba, Franck Plestan

Citations: 992 • 2001

Forces Acting on a Biped Robot. Center of Pressure—Zero Moment Point

P. Sardain, Guy Bessonnet

Citations: 461 • 2004

Learning from demonstration and adaptation of biped locomotion

Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, Mitsuo Kawato

Citations: 400 • 2004

A realtime pattern generator for biped walking

Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kiyoshi Fujiwara, Kazuhito Yokoi, Hirohisa Hirukawa

Citations: 305 • 2003

Optimal reference trajectories for walking and running of a biped robot

Christine Chevallereau, Yannick Aoustin

Citations: 272 • 2001

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

Jerry Pratt, Twan Koolen, Tomas de Boer, John R. Rebula, Sébastien Cotton, John Carff, Matthew Johnson, Peter Neuhaus

Citations: 263 • 2012

The realization of dynamic walking by the biped walking robot WL-10RD.

Atsuo Takanishi, Masami ISHIDA, Yoshiaki Yamazaki, Ichiro Kato

Citations: 250 • 1985

Real-time 3D walking pattern generation for a biped robot with telescopic legs

Shuuji Kajita, O. Matsumoto, Muneharu Saigo

Citations: 237 • 2002

Walking Control Algorithm of Biped Humanoid Robot on Uneven and Inclined Floor

Jung-Yup Kim, Ill-Woo Park, Jun-Ho Oh

Citations: 232 • 2007

Simulation of an autonomous biped walking robot including environmental force interaction

Yasutaka Fujimoto, Atsuo Kawamura

Citations: 189 • 1998

Generation of energy optimal complete gait cycles for biped robots

L. Roussel, Ambarish Goswami

Citations: 189 • 2002

Biped Walking Pattern Generator allowing Auxiliary ZMP Control

Shuuji Kajita, Mitsuharu Morisawa, Kensuke Harada, Kenji Kaneko, Fumio Kanehiro, Kiyoshi Fujiwara, Hirohisa Hirukawa

Citations: 178 • 2006

Real time motion generation and control for biped robot -1<sup>st</sup> report: Walking gait pattern generation-

Toru Takenaka, Takashi Matsumoto, Takahide Yoshiike

Citations: 166 • 2009

Real-time neural network control of a biped walking robot

Wallace T. Miller

Citations: 165 • 1994

Development of a Biped Walking Robot Compensating for Three-Axis Moment by Trunk Motion.

Jin’ichi Yamaguchi, Atsuo Takanishi, Ichiro Kato

Citations: 164 • 1993

Standing stabilizability and stepping maneuver in planar bipedalism based on the best COM-ZMP regulator

Tomomichi Sugihara

Citations: 157 • 2009

Control of a Dynamical Biped Locomotion System for Steady Walking

J. Furusho, Masami Masubuchi

Citations: 157 • 1986

Towards the design of a biped jogging robot

Michael Gienger, K. Löffler, Friedrich Pfeiffer

Citations: 153 • 2002

Robust sliding-mode control applied to a 5-link biped robot

Spyros G. Tzafestaş, M. Raibert, Costas S. Tzafestas

Citations: 151 • 1996