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To overcome the obstructions imposed by high-dimensional bipedal models, we embed a stable walking motion in an attractive low-dimensional surface of the system's state space.
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Cited alongside, same era.
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Wang T and Chevallereau C (2011) Stability analysis and time-varying walking control for an under-actuated planar biped robot · 2011
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In: 2015 IEEE International Conference on Robotics and Automation (ICRA) . IEEE, pp. 5718–5725
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In: 2015 IEEE International Conference on Robotics and Automation (ICRA) . pp. 6295–6300
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Zhao H, Horn J, Reher J, Paredes V and Ames AD (2015) A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses · 2015
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Buss BG, Hamed KA, Griffin BA and Grizzle JW (2016) Experimental results for 3D bipedal robot walking based on systematic optimization of virtual constraints · 2016
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Da X, Harib O, Hartley R, Griffin B and Grizzle JW (2016) From 2D design of underactuated bipedal gaits to 3D implementation: Walking with speed tracking · 2016
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Autonomous Robots 40(3): 429–455
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In: Workshop on Algorithimic Foundations of Robotics (WAFR)
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In: 2016 IEEE International Conference on Robotics and Automation (ICRA) . pp. 1794–1801
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Agrawal A, Harib O, Hereid A, Finet S, Masselin M, Praly L, Ames AD, Sreenath K and Grizzle JW (2017) First steps towards translating HZD control of bipedal robots to decentralized control of exoskeletons · 2017
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In: 2017 IEEE International Conference on Robotics and Automation (ICRA) . pp. 3476–3483
Da X, Hartley R and Grizzle JW (2017) Supervised learning for stabilizing underactuated bipedal robot locomotion, with outdoor experiments on the wave field · 2017
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In: Under Review
Han W and Tedrake R (2017) Feedback design for multi-contact push recovery via LMI approximation of the piecewise-affine quadratic regulator · 2017
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In: IEEE Conference on Control Technology and Applications (CCTA)
Hartley R, Da X and Grizzle JW (2017) Stabilization of 3D underactuated biped robots: Using posture adjustment and gait libraries to reject velocity disturbances · 2017
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In: Under Review
Marcucci T, Deits R, Gabiccini M, Bicchi A and Tedrake R (2017) Approximate hybrid model predictive control for multi-contact push recovery in complex environments · 2017
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In: Robotics: Science and Systems (RSS)
Nguyen Q, Agrawal A, Da X, Martin WC, Geyer H, Grizzle JW and Sreenath K (2017) Dynamic walking on randomly-varying discrete terrain with one-step preview · 2017
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In: Proceedings of the 20th International Conference on Hybrid Systems: Computation and Control . ACM, pp. 121–130
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IEEE Transactions on Automatic Control 62(8): 4017–4022
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