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The Cassie bipedal robot designed by Agility Robotics is providing academics a common platform for sharing and comparing algorithms for locomotion, perception, and navigation.
Nonlinear Control Systems
A. Isidori · 1995
Earlier work this paper cites.
The development of honda humanoid robot
Kazuo Hirai, Masato Hirose, Yuji Haikawa, and Toru Takenaka · 1998
Earlier work this paper cites.
A high stability, smooth walking pattern for a biped robot
Qiang Huang, Shuuji Kajita, Noriho Koyachi, Kenji Kaneko, Kazuhito Yokoi, Hirohiko Arai, Kiyoshi Komoriya, and Kazuo Tanie · 1999
Earlier work this paper cites.
Biped walking pattern generation by using preview control of zero-moment point
Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kiyoshi Fujiwara, Kensuke Harada, Kazuhito Yokoi, and Hirohisa Hirukawa · 2003
Earlier work this paper cites.
On the concept of virtual constraints as a tool for walking robot control and balancing
Carlos Canudas-de-Wit · 2004
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Zero-moment point: Thirty five years of its life
Miomir Vukobratovic and Branislav Borovac · 2004
Earlier work this paper cites.
Experimental validation of a framework for the design of controllers that induce stable walking in planar bipeds
E. R. Westervelt, G. Buche, and J. W. Grizzle · 2004
Earlier work this paper cites.
Velocity based stability margins for fast bipedal walking
Jerry E. Pratt and Russ Tedrake · 2005
Earlier work this paper cites.
Feedback control of dynamic bipedal robot locomotion
Eric R Westervelt, Christine Chevallereau, Jun Ho Choi, Benjamin Morris, and Jessy W Grizzle · 2007
Earlier work this paper cites.
Humanoid robot HRP-4 – humanoid robotics platform with lightweight and slim body
Kenji Kaneko, Fumio Kanehiro, Mitsuharu Morisawa, Kazuhiko Akachi, Go Miyamori, Atsushi Hayashi, and Noriyuki Kanehira · 2011
Earlier work this paper cites.
Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models
T. Koolen, T. de Boer, J. Rebula, A. Goswami, and J. Pratt · 2012
Earlier work this paper cites.
Stabilization of the capture point dynamics for bipedal walking based on model predictive control
Manuel Krause, Johannes Englsberger, Pierre-Brice Wieber, and Christian Ott · 2012
Earlier work this paper cites.
Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid
J. Pratt, T. Koolen, T. de Boer, J. Rebula, S. Cotton, J. Carff, M. Johnson, and P. Neuhaus · 2012
Cited alongside, same era.
A finite-state machine for accommodating unexpected large ground-height variations in bipedal robot walking
Hae-Won Park, Alireza Ramezani, and JW Grizzle · 2013
Cited alongside, same era.
Versatile and robust 3D walking with a simulated humanoid robot (Atlas): a model predictive control approach
Salman Faraji, Soha Pouya, Christopher G Atkeson, and Auke Jan Ijspeert · 2014
Cited alongside, same era.
Spring-mass walking with atrias in 3d: Robust gait control spanning zero to 4.3 kph on a heavily underactuated bipedal robot
Siavash Rezazadeh, Christian Hubicki, Mikhail Jones, Andrew Peekema, Johnathan Van Why, Andy Abate, and Jonathan Hurst · 2015
Cited alongside, same era.
Spring-mass walking with ATRIAS in 3D: Robust gait control spanning zero to 4.3 kph on a heavily underactuated bipedal robot
Frost: Fast robot optimization and simulation toolkit
Ayonga Hereid and Aaron D Ames · 2017
Later among the works it cites.
https://youtu.be/h6hnfCo4a00
Cassie Blue and Associated Press · 2018
Closest in time.
https://youtu.be/jhQMq6vpnAo
Cassie Blue at the UM Dental School · 2018
Closest in time.
https://youtu.be/0gauVSUJzd0
Cassie Blue Hones Her Segway Riding Skills · 2018
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https://youtu.be/VoD7hbssu-M
Cassie Blue Plays in the Sand · 2018
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https://youtu.be/UhXly-5tEkc
Cassie Blue Summary Video · 2018
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https://youtu.be/cGb3bE6ZwrQ
Cassie Blue Walks Through Fire · 2018
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Siavash Rezazadeh, Christian Hubicki, Mikhail Jones, Andrew Peekema, Johnathan Van Why, Andy Abate, and Jonathan W Hurst · 2015
Cited alongside, same era.
From 2D design of underactuated bipedal gaits to 3D implementation: Walking with speed tracking
Xingye Da, Omar Harib, Ross Hartley, Brent Griffin, and Jessy W Grizzle · 2016
Cited alongside, same era.
Planning robust walking motion on uneven terrain via convex optimization
Hongkai Dai and Russ Tedrake · 2016
Cited alongside, same era.
Nonholonomic virtual constraints and gait optimization for robust walking control
Brent Griffin and Jessy Grizzle · 2016
Cited alongside, same era.
3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics
Ayonga Hereid, Eric A Cousineau, Christian M Hubicki, and Aaron D Ames · 2016
Cited alongside, same era.
Xingye Da and Jessy W Grizzle · 2017
Cited alongside, same era.
Cassie URDF and FROST Model
Ross Hartley · 2017
Cited alongside, same era.
Rapid bipedal gait design using c-frost with illustration on a cassie-series robot
Ayonga Hereid, Omar Harib, Ross Hartley, Yukai Gong, and Jessy W Grizzle · 2018
Closest in time.
Cassie Simulators
Agility Robotics · 2018
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Experimental evaluation of robust swing-leg placement controls in robotic limb testbeds
Alexander Schepelmann, Yin Zhong, Jessica Austin, Kathryn A Geberth, and Hartmut Geyer · 2018
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Bipedal hopping: Reduced-order model embedding via optimization-based control
Xiaobin Xiong and Aaron Ames · 2018
Closest in time.