Ground reaction force

Capture Point: A Step toward Humanoid Push Recovery

Jerry Pratt, John Carff, S. Drakunov, Ambarish Goswami

Citations: 1098 • 2006

Reducing the energy cost of human walking using an unpowered exoskeleton

Steven H. Collins, M. Bruce Wiggin, Gregory S. Sawicki

Citations: 1021 • 2015

Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control

Jared Di Carlo, Patrick M. Wensing, Benjamin Katz, Gerardo Bledt, Sangbae Kim

Citations: 717 • 2018

Running in the real world: adjusting leg stiffness for different surfaces

Daniel P. Ferris, Micky Louie, Claire T. Farley

Citations: 588 • 1998

Postural Stability of Biped Robots and the Foot-Rotation Indicator (FRI) Point

Ambarish Goswami

Citations: 567 • 1999

The six determinants of gait and the inverted pendulum analogy: A dynamic walking perspective

Arthur D. Kuo

Citations: 567 • 2007

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

P. Sardain, Guy Bessonnet

Citations: 461 • 2004

A comprehensive, open-source dataset of lower limb biomechanics in multiple conditions of stairs, ramps, and level-ground ambulation and transitions

Jonathan Camargo, Aditya Ramanathan, W. Flanagan, Aaron J. Young

Citations: 335 • 2021

Ground Reference Points in Legged Locomotion: Definitions, Biological Trajectories and Control Implications

Marko B. Popović, Ambarish Goswami, Hugh Herr

Citations: 324 • 2005

Full-Body Compliant Human–Humanoid Interaction: Balancing in the Presence of Unknown External Forces

Sang-Ho Hyon, Joshua G. Hale, Gordon Cheng

Citations: 316 • 2007

A biologically-inspired multi-joint soft exosuit that can reduce the energy cost of loaded walking

Fausto A. Panizzolo, Ignacio Galiana, Alan T. Asbeck, Christopher Siviy, Kai Schmidt, Kenneth G. Holt, Conor J. Walsh

Citations: 310 • 2016

Real time motion generation and control for biped robot -2<sup>nd</sup> report: Running gait pattern generation-

Toru Takenaka, Takashi Matsumoto, Takahide Yoshiike, Shinya Shirokura

Citations: 271 • 2009

Rate of change of angular momentum and balance maintenance of biped robots

Ambarish Goswami, Vinutha Kallem

Citations: 233 • 2004

High-slope terrain locomotion for torque-controlled quadruped robots

Michele Focchi, Andrea Del Prete, Ioannis Havoutis, Roy Featherstone, Darwin G. Caldwell, Claudio Semini

Citations: 204 • 2016

Human kinematic, kinetic and EMG data during different walking and stair ascending and descending tasks

Tiziana Lencioni, Ilaria Carpinella, Marco Rabuffetti, Alberto Marzegan, Maurizio Ferrarin

Citations: 181 • 2019

A Novel Gait Generation for Biped Walking Robots Based on Mechanical Energy Constraint

Fumihiko Asano, Masaki Yamakita, Norihiro Kamamichi, Zeren Luo

Citations: 167 • 2004

A momentum-based balance controller for humanoid robots on non-level and non-stationary ground

Sung‐Hee Lee, Ambarish Goswami

Citations: 161 • 2012

Foot rotation indicator (FRI) point: a new gait planning tool to evaluate postural stability of biped robots

Ambarish Goswami

Citations: 146 • 2003

Fifteen observations on the structure of energy-minimizing gaits in many simple biped models

Manoj Srinivasan

Citations: 137 • 2010

Estimating dinosaur maximum running speeds using evolutionary robotics

William I. Sellers, Phillip L. Manning

Citations: 135 • 2007