Bipedalism

Efficient Bipedal Robots Based on Passive-Dynamic Walkers

Steven H. Collins, Andy Ruina, Russ Tedrake, Martijn Wisse

Citations: 1878 • 2005

Feedback Control of Dynamic Bipedal Robot Locomotion

E. R. Westervelt, Jessy W. Grizzle, Christine Chevallereau, Jun Ho Choi, Benjamin Morris

Citations: 1093 • 2010

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

Virtual Model Control: An Intuitive Approach for Bipedal Locomotion

Jerry Pratt, Chee–Meng Chew, Ann L. Torres, P. Dilworth, Gill A. Pratt

Citations: 550 • 2001

Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models

Twan Koolen, Tomas de Boer, John R. Rebula, Ambarish Goswami, Jerry Pratt

Citations: 479 • 2012

Learning from demonstration and adaptation of biped locomotion

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

Citations: 400 • 2004

The Geometric Mechanics of Undulatory Robotic Locomotion

Joel W. Burdick

Citations: 335 • 1998

Discrete Control Barrier Functions for Safety-Critical Control of Discrete Systems with Application to Bipedal Robot Navigation

Ayush Agrawal, Koushil Sreenath

Citations: 288 • 2017

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

Modeling, stability and control of biped robots—a general framework

Yildirim Hürmüzlü, Frank Génot, Bernard Brogliato

Citations: 235 • 2004

Running over rough terrain reveals limb control for intrinsic stability

Monica A. Daley, Andrew A. Biewener

Citations: 232 • 2006

Limit cycles and their stability in a passive bipedal gait

Ambarish Goswami, Bernard Espiau, Ahmed Keramane

Citations: 232 • 2002

Intuitive control of a planar bipedal walking robot

Jerry Pratt, Gill A. Pratt

Citations: 228 • 2002

Dynamics and Control of Bipedal Locomotion

Tad McGeer

Citations: 228 • 1993

Human-Inspired Control of Bipedal Walking Robots

Aaron D. Ames

Citations: 218 • 2014

Exploiting inherent robustness and natural dynamics in the control of bipedal walking robots

Jerry Pratt, Gill A. Pratt

Citations: 191 • 2000

Froude and the contribution of naval architecture to our understanding of bipedal locomotion

Christopher L. Vaughan, Mark O’Malley

Citations: 182 • 2004

Biped walking pattern generation by a simple three-dimensional inverted pendulum model

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

Citations: 176 • 2003

Behaviour-based modelling of hexapod locomotion: linking biology and technical application

Volker Dürr, Josef Schmitz, Holk Cruse

Citations: 170 • 2004

Choosing Your Steps Carefully

Arthur D. Kuo

Citations: 165 • 2007