Legged robot

Legged Robots That Balance

Marc H. Raibert, Ernest R. Tello

Citations: 2724 • 1986

Learning agile and dynamic motor skills for legged robots

Jemin Hwangbo, Joonho Lee, Alexey Dosovitskiy, C. Dario Bellicoso, Vassilios Tsounis, Vladlen Koltun, Marco Hutter

Citations: 1398 • 2019

Learning robust perceptive locomotion for quadrupedal robots in the wild

Takahiro Miki, Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, Marco Hutter

Citations: 729 • 2022

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

On the Improvement of Multi-Legged Locomotion over Difficult Terrains Using a Balance Stabilization Method

Umar Asif, Javaid Iqbal

Citations: 377 • 2012

Design Principles for a Family of Direct-Drive Legged Robots

Gavin Kenneally, Avik De, Daniel E. Koditschek

Citations: 316 • 2016

Animation of dynamic legged locomotion

Marc H. Raibert, Jessica K. Hodgins

Citations: 297 • 1991

A New Mechanism for Mesoscale Legged Locomotion in Compliant Tubular Environments

Pietro Valdastri, Robert J. Webster, Claudio Quaglia, Marco Quirini, Arianna Menciassi, Paolo Dario

Citations: 269 • 2009

Modeling and Experiments of Untethered Quadrupedal Running with a Bounding Gait: The Scout II Robot

Ioannis Poulakakis, James Andrew Smith, M. Buehler

Citations: 268 • 2005

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

Design, control, and energetics of an electrically actuated legged robot

P. Gregorio, Mojtaba Ahmadi, M. Buehler

Citations: 242 • 1997

Quattroped: A Leg--Wheel Transformable Robot

Shen-Chiang Chen, Ke-Jung Huang, Wei-Hsi Chen, Shuan-Yu Shen, Cheng-Hsin Li, Pei‐Chun Lin

Citations: 231 • 2013

Legged robots

Marc H. Raibert

Citations: 223 • 1986

A Quadruped Robot Exhibiting Spontaneous Gait Transitions from Walking to Trotting to Galloping

Dai Owaki, Akio Ishiguro

Citations: 216 • 2017

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

Navigation planning for legged robots in challenging terrain

Martin Wermelinger, Péter Fankhauser, Remo Diethelm, Philipp Krüsi, Roland Siegwart, Marco Hutter

Citations: 201 • 2016

Stability and Traction Optimization of a Reconfigurable Wheel-Legged Robot

Christophe Grand, Faïz Benamar, Frédéric Plumet, Philippe Bidaud

Citations: 198 • 2004

Where Should I Walk? Predicting Terrain Properties From Images Via Self-Supervised Learning

Lorenz Wellhausen, Alexey Dosovitskiy, René Ranftl, Krzysztof Walas, César Cadena, Marco Hutter

Citations: 191 • 2019

Power and Control Autonomy for High-Speed Locomotion With an Insect-Scale Legged Robot

Benjamin Goldberg, Raphael Zufferey, Neel Doshi, E. Farrell Helbling, Griffin Whittredge, Mirko Kovač, Robert J. Wood

Citations: 187 • 2018

A six-legged climbing robot for high payloads

Juan C. Grieco, Manuel Prieto, Manuel Armada, P. González de Santos

Citations: 186 • 2002