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The ability of legged systems to traverse highly-constrained environments depends by and large on the performance of their motion and balance controllers.
S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, and H. Hirukawa, “Resolved Momentum Control: Humanoid Motion Planning Based on the Linear and Angular Momentum,” IEEE International Conference on Intelligent Robots and Systems , vol. 2, pp. 1644–1650, 2003
2003
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B. Stephens, “Integral control of humanoid balance,” in IEEE Int. Conf. on Intelligent Robots and Systems , 2007, pp. 4020–4027
2007
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——, Rigid Body Dynamics Algorithms . New York, NY: Springer, 2008
2008
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B. H. Kim, “Centroid-based analysis of quadruped-robot walking balance,” Int. Conf. on Advanced Robotics (ICAR) , pp. 1–6, 2009
2009
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B. J. Stephens and C. G. Atkeson, “Push recovery by stepping for humanoid robots with force controlled joints,” IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids) , pp. 52–59, 2010
2010
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M. Kalakrishnan, J. Buchli, P. Pastor, M. Mistry, and S. Schaal, “Fast, robust quadruped locomotion over challenging terrain,” IEEE Int. Conf. on Robotics and Automation (ICRA) , pp. 2665–2670, 2010
2010
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C. Semini, N. G. Tsagarakis, E. Guglielmino, M. Focchi, F. Cannella, and D. G. Caldwell, “Design of HyQ - a hydraulically and electrically actuated quadruped robot,” Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering , vol. 225, no. 6, pp. 831–849, 2011
2011
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P. Y. Lam, “Gyroscopic stabilization of a kid-size bicycle,” IEEE Int. Conf. on Cybernetics and Intell. Systems (CIS) , pp. 247–252, 2011
2011
Cited alongside, same era.
M. Gajamohan, M. Merz, I. Thommen, and R. D’Andrea, “The Cubli: A cube that can jump up and balance,” in IEEE Int. Conf. on Intelligent Robots and Systems (IROS) , 2012, pp. 3722–3727
2012
Cited alongside, same era.
T. Koolen, T. de Boer, J. Rebula, A. Goswami, and J. Pratt, “Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models,” The Int. Journal of Robotics Research (IJRR) , vol. 31, no. 9, pp. 1094–1113, 2012
2012
Cited alongside, same era.
V. Barasuol, J. Buchli, C. Semini, M. Frigerio, E. R. De Pieri, and D. G. Caldwell, “A reactive controller framework for quadrupedal locomotion on challenging terrain,” in IEEE Int. Conf. on Robotics and Automation (ICRA) , 2013, pp. 2554–2561
2013
Cited alongside, same era.
G. Wiedebach, S. Bertrand, T. Wu, L. Fiorio, S. McCrory, R. Griffin, F. Nori, and J. Pratt, “Walking on partial footholds including line contacts with the humanoid robot atlas,” in IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids) . IEEE, 2016, pp. 1312–1319
2016
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R. Featherstone, “Quantitative measures of a robot’s physical ability to balance,” The Int. Journal of Robotics Research (IJRR) , vol. 35, no. 14, pp. 1681–1696, 2016
2016
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M. Frigerio, J. Buchli, D. G. Caldwell, and C. Semini, “RobCoGen: a code generator for efficient kinematics and dynamics of articulated robots, based on Domain Specific Languages,” Journal of Software Engineering for Robotics (JOSER) , vol. 7, no. July, pp. 36–54, 2016
2016
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R. Featherstone, “A simple model of balancing in the plane and a simple preview balance controller,” The Int. Journal of Robotics Research (IJRR) , vol. 36, no. 13-14, pp. 1489–1507, 2017
2017
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U. Nagarajan, G. Kantor, and R. Hollis, “The ballbot: An omnidirectional balancing mobile robot,” The Int. Journal of Robotics Research (IJRR) , vol. 33, no. 6, pp. 917–930, 2014
2014
Cited alongside, same era.
A. Herzog, N. Rotella, S. Mason, F. Grimminger, S. Schaal, and L. Righetti, “Momentum control with hierarchical inverse dynamics on a torque-controlled humanoid,” Autonomous Robots , vol. 40, no. 3, pp. 473–491, 2016
2016
Cited alongside, same era.
B. Henze, A. Dietrich, and C. Ott, “An Approach to Combine Balancing with Hierarchical Whole-Body Control for Legged Humanoid Robots,” IEEE Robotics and Automation Letters (RAL) , vol. 1, no. 2, pp. 700–707, 2016
2016
Cited alongside, same era.
Later among the works it cites.
S. Nobili, M. Camurri, V. Barasuol, M. Focchi, D. G. Caldwell, C. Semini, and M. Fallon, “Heterogeneous sensor fusion for accurate state estimation of dynamic legged robots,” in Robotics: Science and Systems (RSS) , Boston, USA, July 2017
2017
Later among the works it cites.
J. J. M. Driessen, A. E. Gkikakis, R. Featherstone, and B. R. P. Singh, “Experimental Demonstration of High-Performance Robotic Balancing,” in IEEE Int. Conf. on Robotics and Automation (ICRA) , 2019, pp. 9459–9465
2019
Later among the works it cites.
M. Chignoli and P. M. Wensing, “Variational-Based Optimal Control of Underactuated Balancing for Dynamic Quadrupeds,” IEEE Access , vol. 8, pp. 49 785–49 797, 2020
2020
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