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We have built a 12DOF, passive-compliant legged, tailed biped actuated by four brushless DC motors.
Compartment models and reservoir theory
Erik Eriksson · 1971
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Legged Robots that Balance
M.H. Raibert · 1986
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Adaptive techniques for mechanical systems
D. E. Koditschek · 1987
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A simple juggling robot: Theory and experimentation , volume 139 of Lecture Lecture Notes in Control and Information Sciences , pages 35––73
M Buehler, DE Koditschek, and PJ Kindlmann · 1989
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Analysis of a simplified hopping robot
Daniel E. Koditschek and Martin Buehler · 1991
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Comparative experiments with a new adaptive controller for robot arms
Louis L. Whitcomb, Alfred A. Rizzi, and Daniel E. Koditschek · 1993
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Similarity in multilegged locomotion: Bouncing like a monopode
R. Blickhan and R. J. Full · 1993
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Control of forward velocity for a simplified planar hopping robot
W. J. Schwind and D. E. Koditschek · 1995
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Toward the control of a multi-jointed, monoped runner
U. Saranli, W. J. Schwind, and D. E. Koditschek · 1998
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Templates and anchors: neuromechanical hypotheses of legged locomotion on land
R. J. Full and D. E. Koditschek · 1999
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A brachiating robot controller
Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek · 2000
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Mechanical models for insect locomotion: dynamics and stability in the horizontal plane i. theory
J Schmitt and P Holmes · 2000
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Maneuvering in an arboreal habitat: the effects of turning angle on the locomotion of three sympatric ecomorphs of anolis lizards
Timothy E. Higham, Matthew S. Davenport, and Bruce C. Jayne · 2001
Earlier work this paper cites.
RHex: a simple and highly mobile hexapod robot
Uluc Saranli, Martin Buehler, and Daniel E. Koditschek · 2001
Cited alongside, same era.
Biped walking pattern generation by using preview control of zero-moment point
S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, and H. Hirukawa · 2003
Cited alongside, same era.
A simply stabilized running model
R. M. Ghigliazza, R. Altendorfer, P. Holmes, and D. Koditschek · 2005
Cited alongside, same era.
Spring-mass running: simple approximate solution and application to gait stability
Hartmut Geyer, Andre Seyfarth, and Reinhard Blickhan · 2005
Cited alongside, same era.
The dynamics of legged locomotion: Models, analyses, and challenges
Philip Holmes, Robert J. Full, Dan Koditschek, and John Guckenheimer · 2006
Cited alongside, same era.
Capture point: A step toward humanoid push recovery
Jerry Pratt, John Carff, Sergey Drakunov, and Ambarish Goswami · 2006
Tail assisted dynamic self righting
Aaron M. Johnson, E. Chang-Siu, T. Libby, Masayoshi Tomizuka, Robert J. Full, and D. E. Koditschek · 2012
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Dynamic turning of 13 cm robot comparing tail and differential drive
Andrew O Pullin, Nicholas J Kohut, David Zarrouk, and Ronald S Fearing · 2012
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Actuator design for high force proprioceptive control in fast legged locomotion
Sangok Seok, Albert Wang, David Otten, and Sangbae Kim · 2012
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Control of monopedal running through tunable damping
G. Secer and U. Saranli · 2013
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Legged self-manipulation
Aaron M. Johnson and D. E. Koditschek · 2013
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Toward a vocabulary of legged leaping
Aaron M. Johnson and D. E. Koditschek · 2013
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Cited alongside, same era.
Feedback Control of Dynamic Bipedal Robot Locomotion
E.R. Westervelt and J.W. Grizzle · 2007
Cited alongside, same era.
Underactuated robotics: Learning, planning, and control for efficient and agile machines course notes for MIT 6.832
Russ Tedrake · 2009
Cited alongside, same era.
Losing stability: tail loss and jumping in the arboreal lizard anolis carolinensis
Gary B. Gillis, Lauren A. Bonvini, and Duncan J. Irschick · 2009
Cited alongside, same era.
X-RHex: A Highly Mobile Hexapedal Robot for Sensorimotor Tasks
Kevin Galloway, Galen Haynes, B. Deniz Ilhan, Aaron Johnson, Ryan Knopf, Goran Lynch, Benjamin Plotnick, Mackenzie White, and Daniel Koditschek · 2010
Cited alongside, same era.
Reactive planning and control of planar spring-mass running on rough terrain
Omur Arslan and Uluc Saranli · 2011
Cited alongside, same era.
Dimension reduction near periodic orbits of hybrid systems
Samuel Burden, Shai Revzen, and Shankar S. Sastry · 2011
Cited alongside, same era.
Event-selected vector field discontinuities yield piecewise-differentiable flows
Samuel A. Burden, Shai Revzen, S. Shankar Sastry, and Daniel E. Koditschek · 2014
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The kangaroo’s tail propels and powers pentapedal locomotion
S. M. O’Connor, T. J. Dawson, R. Kram, and J. M. Donelan · 2014
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Towards a comparative measure of legged agility
J. M. Duperret, G. D. Kenneally, J. L. Pusey, and D. E. Koditschek · 2014
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Cogging Torque Ripple Minimization via Position Based Characterization
Matthew Piccoli and Mark Yim · 2014
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Kinematic leg design in an electromechanical robot
Gavin Kenneally and D. E. Koditschek · 2014
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Parallel composition of templates for tail-energized planar hopping
Avik De and Daniel E. Koditschek · 2015
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