Fetching the paper…
Reading the bibliography…
This paper presents an online walking synthesis methodology to enable dynamic and stable walking on constrained footholds for underactuated bipedal robots.
M. H. Raibert, Legged robots that balance . MIT press, 1986
1986
Earlier work this paper cites.
S. Kajita and K. Tani, “Study of dynamic biped locomotion on rugged terrain-derivation and application of the linear inverted pendulum mode,” in Proceedings. 1991 IEEE International Conference on Robotics and Automation , 1991, pp. 1405–1406
1991
Earlier work this paper cites.
Y. Hurmuzlu and D. B. Marghitu, “Rigid body collisions of planar kinematic chains with multiple contact points,” The international journal of robotics research , vol. 13, no. 1, pp. 82–92, 1994
1994
Earlier work this paper cites.
S. Kajita, F. Kanehiro, K. Kaneko, K. Yokoi, and H. Hirukawa, “The 3d linear inverted pendulum mode: a simple modeling for a biped walking pattern generation,” in Proceedings 2001 IEEE/RSJ Int. Conf. on Intell. Rob. and Sys. (IROS) , vol. 1, 2001, pp. 239–246 vol.1
2001
Earlier work this paper cites.
S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Yokoi, and H. Hirukawa, “A realtime pattern generator for biped walking,” in IEEE Int. Conf. on Rob. and Autom. (ICRA) , vol. 1, 2002, pp. 31–37
2002
Earlier work this paper cites.
S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, and H. Hirukawa, “Biped walking pattern generation by using preview control of zero-moment point,” in 2003 IEEE International Conference on Robotics and Automation (Cat. No. 03CH37422) , vol. 2. IEEE, 2003, pp. 1620–1626
2003
Earlier work this paper cites.
E. R. Westervelt, J. W. Grizzle, and D. E. Koditschek, “Hybrid zero dynamics of planar biped walkers,” IEEE transactions on automatic control , vol. 48, no. 1, pp. 42–56, 2003
2003
Earlier work this paper cites.
S. Collins, A. Ruina, R. Tedrake, and M. Wisse, “Efficient bipedal robots based on passive-dynamic walkers,” Science , vol. 307, no. 5712, pp. 1082–1085, 2005
2005
Earlier work this paper cites.
M. Wisse, C. G. Atkeson, and D. K. Kloimwieder, “Swing leg retraction helps biped walking stability,” in 5th IEEE-RAS International Conference on Humanoid Robots, 2005. IEEE, 2005, pp. 295–300
2005
Earlier work this paper cites.
J. E. Pratt and S. V. Drakunov, “Derivation and application of a conserved orbital energy for the inverted pendulum bipedal walking model,” in Proceedings 2007 IEEE International Conference on Robotics and Automation . IEEE, 2007, pp. 4653–4660
2007
Earlier work this paper cites.
D. E. Orin and A. Goswami, “Centroidal momentum matrix of a humanoid robot: Structure and properties,” in 2008 IEEE/RSJ Int. Conf. on Intell. Rob. and Sys. IEEE, 2008, pp. 653–659
2008
Earlier work this paper cites.
R. Tedrake, “Underactuated robotics: Learning, planning, and control for efficient and agile machines course notes for mit 6.832,” Working draft edition , vol. 3, 2009
2009
Earlier work this paper cites.
I. R. Manchester, U. Mettin, F. Iida, and R. Tedrake, “Stable dynamic walking over uneven terrain,” The International Journal of Robotics Research , vol. 30, no. 3, pp. 265–279, 2011
2011
Earlier work this paper cites.
H.-W. Park, K. Sreenath, A. Ramezani, and J. W. Grizzle, “Switching control design for accommodating large step-down disturbances in bipedal robot walking,” in 2012 IEEE International Conference on Robotics and Automation . IEEE, 2012, pp. 45–50
2012
Earlier work this paper cites.
J. Pratt, T. Koolen, T. De Boer, J. Rebula, S. Cotton, J. Carff, M. Johnson, and P. Neuhaus, “Capturability-based analysis and control of legged locomotion, part 2: Application to m2v2, a lower-body humanoid,” The Int. J. of Rob. Res. , vol. 31, no. 10, pp. 1117–1133, 2012
2012
Cited alongside, same era.
P. M. Wensing and D. E. Orin, “Generation of dynamic humanoid behaviors through task-space control with conic optimization,” in 2013 IEEE International Conference on Robotics and Automation . IEEE, 2013, pp. 3103–3109
2013
Cited alongside, same era.
J. W. Grizzle, C. Chevallereau, R. W. Sinnet, and A. D. Ames, “Models, feedback control, and open problems of 3d bipedal robotic walking,” Automatica , vol. 50, no. 8, p. 1955–1988, 2014
2014
Cited alongside, same era.
H. Ferreau, C. Kirches, A. Potschka, H. Bock, and M. Diehl, “qpOASES: A parametric active-set algorithm for quadratic programming,” Mathematical Programming Computation , vol. 6, no. 4, pp. 327–363, 2014
2014
Q. Nguyen, A. Agrawal, W. Martin, H. Geyer, and K. Sreenath, “Dynamic bipedal locomotion over stochastic discrete terrain,” The International Journal of Robotics Research , vol. 37, no. 13-14, pp. 1537–1553, 2018
2018
Later among the works it cites.
K. Bouyarmane, K. Chappellet, J. Vaillant, and A. Kheddar, “Quadratic programming for multirobot and task-space force control,” IEEE Transactions on Robotics , vol. 35, no. 1, pp. 64–77, 2018
2018
Later among the works it cites.
A. Goswami and P. Vadakkepat, Humanoid robotics: a reference . Springer, 2019
2019
Later among the works it cites.
X. Xiong and A. D. Ames, “Motion decoupling and composition via reduced order model optimization for dynamic humanoid walking with clf-qp based active force control,” in In 2019 IEEE/RSJ Int. Conf. on Intell. Rob. and Sys. (IROS) , 2019
2019
Later among the works it cites.
alphaXiv searches the wider corpus for related work and actual follow-ups.
alphaXiv is searching for related work…
Cited alongside, same era.
S. Rezazadeh and et al., “Spring-mass walking with atrias in 3d: Robust gait control spanning zero to 4.3 kph on a heavily underactuated bipedal robot,” in ASME 2015 dynamic systems and control conference . American Society of Mechanical Engineers, 2015
2015
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 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids) . IEEE, 2016, pp. 1312–1319
2016
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 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids) , 2016, pp. 1312–1319
2016
Cited alongside, same era.
A. Hereid, E. A. Cousineau, C. M. Hubicki, and A. D. Ames, “3d dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics,” in 2016 IEEE Int. Conf. on Rob. and Autom. (ICRA) , 2016, pp. 1447–1454
2016
Cited alongside, same era.
A. D. Ames, X. Xu, J. W. Grizzle, and P. Tabuada, “Control barrier function based quadratic programs for safety critical systems,” IEEE Transactions on Automatic Control , vol. 62, no. 8, p. 3861–3876, 2016
2016
Cited alongside, same era.
Q. Nguyen, A. Hereid, J. W. Grizzle, A. D. Ames, and K. Sreenath, “3d dynamic walking on stepping stones with control barrier functions,” in 2016 IEEE 55th Conference on Decision and Control (CDC) . IEEE, 2016, pp. 827–834
2016
Cited alongside, same era.
M. J. Powell and A. D. Ames, “Mechanics-based control of underactuated 3d robotic walking: Dynamic gait generation under torque constraints,” in 2016 IEEE/RSJ Int. Conf. on Intell. Rob. and Sys. (IROS) . IEEE, 2016, pp. 555–560
2016
Cited alongside, same era.
C. Hubicki, J. Grimes, M. Jones, D. Renjewski, A. Spröwitz, A. Abate, and J. Hurst, “Atrias: Design and validation of a tether-free 3d-capable spring-mass bipedal robot,” The International Journal of Robotics Research , vol. 35, no. 12, pp. 1497–1521, 2016
2016
Cited alongside, same era.
Z. Manchester and S. Kuindersma, “Variational contact-implicit trajectory optimization,” in Robotics Research . Springer, 2020, pp. 985–1000
2020
Later among the works it cites.
Q. Nguyen, X. Da, J. Grizzle, and K. Sreenath, “Dynamic walking on stepping stones with gait library and control barrier functions,” in Algorithmic Foundations of Robotics XII . Springer, 2020, pp. 384–399
2020
Later among the works it cites.
2020
Later among the works it cites.
J. Reher and A. D. Ames, “Dynamic walking: Toward agile and efficient bipedal robots,” Annual Review of Control, Robotics, and Autonomous Systems , vol. 4, pp. 535–572, 2021
2021
Closest in time.
N. Csomay-Shanklin, R. K. Cosner, M. Dai, A. J. Taylor, and A. D. Ames, “Episodic learning for safe bipedal locomotion with control barrier functions and projection-to-state safety,” 2021
2021
Closest in time.
2021
Closest in time.
Y. Gong and J. Grizzle, “Angular momentum about the contact point for control of bipedal locomotion: Validation in a lip-based controller,” 2021
2021
Closest in time.
Y. Gong and J. Grizzle, “Zero dynamics, pendulum models, and angular momentum in feedback control of bipedal locomotion,” 2021
2021
Closest in time.
X. Xiong and A. D. Ames, “Slip walking over rough terrain via h-lip stepping and backstepping-barrier function inspired quadratic program,” IEEE Robot. Autom. Lett., 10.1109/LRA.2021.3061385 , 2021
2021
Closest in time.