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We present a trajectory planning and control architecture for bipedal locomotion at a variety of speeds on a highly underactuated and compliant bipedal robot.
Experiments in balance with a 3D one-legged hopping machine
Marc H Raibert, H Benjamin Brown Jr, and Michael Chepponis · 1984
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A comparative analysis of actuator technologies for robotics
Ian W Hunter, John M Hollerbach, and John Ballantyne · 1991
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Rigid body collisions of planar kinematic chains with multiple contact points
Y. Hurmuzlu and D. B. Marghitu · 1994
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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
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Zero-moment point—thirty five years of its life
Miomir Vukobratović and Branislav Borovac · 2004
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A unified approach for inverse and direct dynamics of constrained multibody systems based on linear projection operator: applications to control and simulation
Farhad Aghili · 2005
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Large-scale nonlinear programming using ipopt: An integrating framework for enterprise-wide dynamic optimization
Lorenz T Biegler and Victor M Zavala · 2009
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Inverse dynamics control of floating base systems using orthogonal decomposition
Michael Mistry, Jonas Buchli, and Stefan Schaal · 2010
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Identification of a bipedal robot with a compliant drivetrain
Hae-Won Park, Koushil Sreenath, Jonathan W Hurst, and Jessy W Grizzle · 2011
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State estimation for legged robots-consistent fusion of leg kinematics and imu
Michael Bloesch, Marco Hutter, Mark A Hoepflinger, Stefan Leutenegger, Christian Gehring, C David Remy, and Roland Siegwart · 2013
Cited alongside, same era.
Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL
Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, and Jessy W Grizzle · 2013
Cited alongside, same era.
Rapidly exponentially stabilizing control lyapunov functions and hybrid zero dynamics
Aaron D Ames, Kevin Galloway, Koushil Sreenath, and Jessy W Grizzle · 2014
Cited alongside, same era.
Models, feedback control, and open problems of 3D bipedal robotic walking
Jessy Grizzle, Christine Chevallereau, Ryan Sinnet, and Aaron Ames · 2014
Cited alongside, same era.
Performance analysis and feedback control of ATRIAS, a three-dimensional bipedal robot
Alireza Ramezani, Jonathan W Hurst, Kaveh Akbari Hamed, and Jessy W Grizzle · 2014
Cited alongside, same era.
Feedback control of dynamic bipedal robot locomotion
Eric R Westervelt, Jessy W Grizzle, Christine Chevallereau, Jun Ho Choi, and Benjamin Morris · 2018
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Feedback control of a cassie bipedal robot: Walking, standing, and riding a segway
Yukai Gong, Ross Hartley, Xingye Da, Ayonga Hereid, Omar Harib, Jiunn-Kai Huang, and Jessy Grizzle · 2019
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Rapid trajectory optimization using C-FROST with illustration on a Cassie-series dynamic walking biped
A. Hereid, O. Harib, R. Hartley, Y. Gong, and J. W. Grizzle · 2019
Later among the works it cites.
Dynamic walking with compliance on a Cassie bipedal robot
Jenna Reher, Wen-Loong Ma, and Aaron D Ames · 2019
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Yukai Gong and Jessy Grizzle · 2020
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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.
Design of a momentum-based control framework and application to the humanoid robot Atlas
Twan Koolen, Sylvain Bertrand, Gray Thomas, Tomas De Boer, Tingfan Wu, Jesper Smith, Johannes Englsberger, and Jerry Pratt · 2016
Cited alongside, same era.
Supervised learning for stabilizing underactuated bipedal robot locomotion, with outdoor experiments on the wave field
Xingye Da, Ross Hartley, and Jessy W Grizzle · 2017
Cited alongside, same era.
FROST: Fast robot optimization and simulation toolkit
Ayonga Hereid and Aaron D Ames · 2017
Cited alongside, same era.
Open-sourced repository for the C++ controller code used in this work on hardware and for use in a Gazebo simulation. https://github.com/jpreher/cassie_documentation
Cited in the paper.
Video of simulation and experimental results on Cassie. https://youtu.be/SvhjPZqSGFI
Cited in the paper.
Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS
Jenna Reher, Ayonga Hereid, Shishir Kolathaya, Christian M Hubicki, and Aaron D Ames · 2020
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An inverse dynamics approach to control Lyapunov functions
Jenna Reher, Claudia Kann, and Aaron D Ames · 2020
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Learning locomotion skills for cassie: Iterative design and sim-to-real
Zhaoming Xie, Patrick Clary, Jeremy Dao, Pedro Morais, Jonanthan Hurst, and Michiel Panne · 2020
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Dynamic walking: Toward agile and efficient bipedal robots
Jenna Reher and Aaron D. Ames · 2021
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