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Low-dimensional models are ubiquitous in the bipedal robotics literature.
Dynamic walk of a biped
H. Miura and I. Shimoyama · 1984
Earlier work this paper cites.
Hopping in legged systems—modeling and simulation for the two-dimensional one-legged case
M. H. Raibert · 1984
Earlier work this paper cites.
The spring-mass model for running and hopping
R. Blickhan · 1989
Earlier work this paper cites.
Realization of natural dynamic walking using the angular momentum information
A. Sano and J. Furusho · 1990
Earlier work this paper cites.
Asymptotic stabilization of nonlinear minimum phase systems
C. Byrnes and A. Isidori · 1991
Earlier work this paper cites.
Study of dynamic biped locomotion on rugged terrain-theory and basic experiment
Shuuji Kajita and Kazuo Tani · 1991
Earlier work this paper cites.
Study of dynamic biped locomotion on rugged terrain-derivation and application of the linear inverted pendulum mode
S. Kajita and K. Tani · 1991
Earlier work this paper cites.
Rigid body collisions of a special class of planar kinematic chains
Y. Hurmuzlu and T.H. Chang · 1992
Earlier work this paper cites.
Dynamics of bipedal gait - part 1: objective functions and the contact event of a planar five-link biped
Y. Hurmuzlu · 1993
Earlier work this paper cites.
Nonlinear Control Systems
A. Isidori · 1995
Earlier work this paper cites.
The 3d linear inverted pendulum mode: A simple modeling for a biped walking pattern generation
Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kazuhito Yokoi, and Hirohisa Hirukawa · 2001
Earlier work this paper cites.
Asymptotically stable walking for biped robots: Analysis via systems with impulse effects
J. W. Grizzle, G. Abba, and F. Plestan · 2001
Earlier work this paper cites.
Design of asymptotically stable walking for a 5-link planar biped walker via optimization
E. R. Westervelt and J. W. Grizzle · 2002
Earlier work this paper cites.
Probabilistic robotics
Sebastian Thrun · 2002
Earlier work this paper cites.
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
Earlier work this paper cites.
Hybrid zero dynamics of planar biped walkers
E. Westervelt, J. W. Grizzle, and D.E. Koditschek · 2003
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.
RABBIT: A testbed for advanced control theory
C. Chevallereau, G. Abba, Y. Aoustin, F. Plestan, E. R. Westervelt, C. Canudas-de-Wit, and J. W. Grizzle · 2003
Earlier work this paper cites.
Switching and pi control of walking motions of planar biped walkers
Eric R Westervelt, Jessy W Grizzle, and C Canudas De Wit · 2003
Earlier work this paper cites.
Rate of change of angular momentum and balance maintenance of biped robots
A. Goswami and V. Kallem · 2004
Earlier work this paper cites.
Zero spin angular momentum control: definition and applicability
M. Popovic, A. Hofmann, and H. Herr · 2004
Earlier work this paper cites.
Rate of change of angular momentum and balance maintenance of biped robots
Ambarish Goswami and Vinutha Kallem · 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.
Nonlinear control of mechanical systems with an unactuated cyclic variable
JW Grizzle, Claude H Moog, and Christine Chevallereau · 2005
Earlier work this paper cites.
Planar bipedal walking with foot rotation
J. H. Choi and J. W. Grizzle · 2005
Earlier work this paper cites.
Capture point: A step toward humanoid push recovery
Jerry Pratt, John Carff, Sergey Drakunov, and Ambarish Goswami · 2006
Earlier work this paper cites.
High frequency walking pattern generation based on preview control of zmp
Koichi Nishiwaki and Satoshi Kagami · 2006
Earlier work this paper cites.
Trajectory free linear model predictive control for stable walking in the presence of strong perturbations
Pierre-Brice Wieber · 2006
Earlier work this paper cites.
Holonomy and nonholonomy in the dynamics of articulated motion
P-B Wieber · 2006
Cited alongside, same era.
Velocity-based stability margins for fast bipedal walking
Jerry E Pratt and Russ Tedrake · 2006
Cited alongside, same era.
Capture Point: A Step toward Humanoid Push Recovery
J. Pratt, J. Carff, S. Drakunov, and A. Goswami · 2006
Cited alongside, same era.
Reaction mass pendulum (rmp): An explicit model for centroidal angular momentum of humanoid robots
Sung-Hee Lee and Ambarish Goswami · 2007
Cited alongside, same era.
Feedback Control of Dynamic Bipedal Robot Locomotion
E. R. Westervelt, J. W. Grizzle, C. Chevallereau, J. H. Choi, and B. Morris · 2007
Cited alongside, same era.
Feedback control of dynamic bipedal robot locomotion
Eric R Westervelt, Christine Chevallereau, Jun Ho Choi, Benjamin Morris, and Jessy W Grizzle · 2007
Mechanics-based control of underactuated 3d robotic walking: Dynamic gait generation under torque constraints
Matthew J Powell and Aaron D Ames · 2016
Later among the works it cites.
Nonholonomic virtual constraints and gait optimization for robust walking control
Brent Griffin and Jessy Grizzle · 2016
Later among the works it cites.
Planning robust walking motion on uneven terrain via convex optimization
Hongkai Dai and Russ Tedrake · 2016
Later among the works it cites.
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
Later among the works it cites.
Virtual constraints and hybrid zero dynamics for realizing underactuated bipedal locomotion
Jessy W Grizzle and Christine Chevallereau · 2016
Later among the works it cites.
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Cited alongside, same era.
Control of underactuated mechanical systems via passivity-based and geometric techniques
Giuseppe Viola · 2008
Cited alongside, same era.
Cartesian impedance control of redundant and flexible-joint robots
Christian Ott · 2008
Cited alongside, same era.
A framework for the control of stable aperiodic walking in underactuated planar bipeds
T. Yang, E. R. Westervelt, A. Serrani, and J. P. Schmiedeler · 2009
Cited alongside, same era.
The spring loaded inverted pendulum as the hybrid zero dynamics of an asymmetric hopper
Ioannis Poulakakis and Jessy W Grizzle · 2009
Cited alongside, same era.
Exploiting angular momentum to enhance bipedal center-of-mass control
Andreas Hofmann, Marko Popovic, and Hugh Herr · 2009
Cited alongside, same era.
Hybrid invariant manifolds in systems with impulse effects with application to periodic locomotion in bipedal robots
B. Morris and J. W. Grizzle · 2009
Cited alongside, same era.
First steps towards translating HZD control of bipedal robots to decentralized control of exoskeletons
Ayush Agrawal, Omar Harib, Ayonga Hereid, Sylvain Finet, Matthieu Masselin, Laurent Praly, Aaron D. Ames, Koushil Sreenath, and Jessy W. Grizzle · 2017
Later among the works it cites.
Passivity-based control of underactuated biped robots within hybrid zero dynamics approach
Hamid Sadeghian, Christian Ott, Gianluca Garofalo, and Gordon Cheng · 2017
Later among the works it cites.
Inclusion of angular momentum during planning for capture point based walking
Tim Seyde, Apoorv Shrivastava, Johannes Englsberger, Sylvain Bertrand, Jerry Pratt, and Robert J Griffin · 2018
Later among the works it cites.
Towards restoring locomotion for paraplegics: Realizing dynamically stable walking on exoskeletons
Thomas Gurriet, Sylvain Finet, Guilhem Boeris, Alexis Duburcq, Ayonga Hereid, Omar Harib, Matthieu Masselin, Jessy Grizzle, and Aaron D Ames · 2018
Later among the works it cites.
Simultaneous optimization of zmp and footsteps based on the analytical solution of divergent component of motion
Takumi Kamioka, Hiroyuki Kaneko, Toru Takenaka, and Takahide Yoshiike · 2018
Later among the works it cites.
Omar Harib, Ayonga Hereid, Ayush Agrawal, Thomas Gurriet, Sylvain Finet, Guilhem Boeris, Alexis Duburcq, M. Eva Mungai, Matthieu Masselin, Aaron D. Ames, Koushil Sreenath, and Jessy Grizzle · 2018
Later among the works it cites.
Input-to-state safety with control barrier functions
Shishir Kolathaya and Aaron D Ames · 2018
Later among the works it cites.
Orbit characterization, stabilization and composition on 3d underactuated bipedal walking via hybrid passive linear inverted pendulum model
Xiaobin Xiong and Aaron D Ames · 2019
Later among the works it cites.
Combining trajectory optimization, supervised machine learning, and model structure for mitigating the curse of dimensionality in the control of bipedal robots
Xingye Da and Jessy Grizzle · 2019
Later among the works it cites.
First steps towards full model based motion planning and control of quadrupeds: A hybrid zero dynamics approach
Wen-Loong Ma, Kaveh Akbari Hamed, and Aaron D Ames · 2019
Later among the works it cites.
Input-to-state stability of periodic orbits of systems with impulse effects via poincaré analysis
Sushant Veer, Ioannis Poulakakis, et al · 2019
Later among the works it cites.
Feedback control of a cassie bipedal robot: Walking, standing, and riding a segway
Y. Gong, R. Hartley, X. Da, A. Hereid, O. Harib, J. Huang, and J. Grizzle · 2019
Later among the works it cites.
Optimal reduced-order modeling of bipedal locomotion
Yu-Ming Chen and Michael Posa · 2020
Later among the works it cites.
Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot durus
Jacob P Reher, Ayonga Hereid, Shishir Kolathaya, Christian M Hubicki, and Aaron D Ames · 2020
Later among the works it cites.
Dynamic locomotion of a lower-limb exoskeleton through virtual constraints based zmp regulation
Victor Paredes and Ayonga Hereid · 2020
Later among the works it cites.
Xiaobin Xiong and Aaron Ames · 2020
Later among the works it cites.
Walking control based on step timing adaptation
Majid Khadiv, Alexander Herzog, S Ali A Moosavian, and Ludovic Righetti · 2020
Later among the works it cites.
Line walking and balancing for legged robots with point feet
Carlos Gonzalez, Victor Barasuol, Marco Frigerio, Roy Featherstone, Darwin G Caldwell, and Claudio Semini · 2020
Later among the works it cites.
Contact-aided invariant extended kalman filtering for robot state estimation
Ross Hartley, Maani Ghaffari, Ryan M Eustice, and Jessy W Grizzle · 2020
Later among the works it cites.
One-step ahead prediction of angular momentum about the contact point for control of bipedal locomotion: Validation in a lip-inspired controller
Yukai Gong and Jessy Grizzle · 2021
Closest in time.
Global position control on underactuated bipedal robots: Step-to-step dynamics approximation for step planning
Xiaobin Xiong, Jenna Reher, and Aaron D Ames · 2021
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Impact invariant control with applications to bipedal locomotion
William Yang and Michael Posa · 2021
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https://www.youtube.com/channel/UCMfDV8rkQqWhUwnTAYAq0tQ
Michigan Robotics: Dynamic Legged Locomotion Lab Youtube Channel · 2021
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