Inverted pendulum

Capture Point: A Step toward Humanoid Push Recovery

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

Citations: 1098 • 2006

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

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

Arthur D. Kuo

Citations: 567 • 2007

A Study of the Passive Gait of a Compass-Like Biped Robot

Ambarish Goswami, Benoît Thuilot, Bernard Espiau

Citations: 548 • 1998

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

Real-time humanoid motion generation through ZMP manipulation based on inverted pendulum control

Tomomichi Sugihara, Yoshihiko Nakamura, H. Inoue

Citations: 460 • 2003

Dynamic Walk of a Biped

Hirofumi MIURA, Isao Shimoyama

Citations: 450 • 1984

<i>Non-linear Control for Underactuated Mechanical Systems</i>

I. Fantoni, Rogelio Lozano, SC Sinha

Citations: 440 • 2002

Biped walking stabilization based on linear inverted pendulum tracking

Shuuji Kajita, Mitsuharu Morisawa, Ken Miura, Shin’ichiro Nakaoka, Kensuke Harada, Kenji Kaneko, Fumio Kanehiro, Kazuhito Yokoi

Citations: 433 • 2010

Limit Cycles in a Passive Compass Gait Biped and Passivity-Mimicking Control Laws

Ambarish Goswami, Bernard Espiau, Ahmed Keramane

Citations: 426 • 1997

Study of dynamic biped locomotion on rugged terrain-derivation and application of the linear inverted pendulum mode

Shuuji Kajita, Kenichiro Tani

Citations: 420 • 2002

RHex: A Biologically Inspired Hexapod Runner

Richard Altendorfer, N. Moore, M. Buehler, H.B. Brown, D. McMordie, Uluc̣ Saranlı, Robert J. Full, Daniel E. Koditschek

Citations: 408 • 2001

Design and Implementation of Integral Sliding-Mode Control on an Underactuated Two-Wheeled Mobile Robot

Jian‐Xin Xu, Zhao-Qin Guo, Tong Heng Lee

Citations: 316 • 2013

A realtime pattern generator for biped walking

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

Citations: 305 • 2003

Animation of dynamic legged locomotion

Marc H. Raibert, Jessica K. Hodgins

Citations: 297 • 1991

The Pendubot: a mechatronic system for control research and education

Mark W. Spong, Daniel J. Block

Citations: 290 • 2002

DASH: A dynamic 16g hexapedal robot

Paul Birkmeyer, Kevin Peterson, Ronald S. Fearing

Citations: 276 • 2009

Compass-Like Biped Robot Part I : Stability and Bifurcation of Passive Gaits

Ambarish Goswami, Benoît Thuilot, Bernard Espiau

Citations: 263 • 1996

Experience Replay for Real-Time Reinforcement Learning Control

S Charles Adam, Lucian Buşoniu, Robert Babuška

Citations: 260 • 2011

Biped robot walking using gravity-compensated inverted pendulum mode and computed torque control

Joo Hyun Park, K.D. Kim

Citations: 253 • 2002