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The ability to realize nonlinear controllers with formal guarantees on dynamic robotic systems has the potential to enable more complex robotic behaviors -- yet, realizing these controllers is often practically challenging.
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S-P Han and Olvi L Mangasarian · 1979
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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 unified approach for motion and force control of robot manipulators: The operational space formulation
Oussama Khatib · 1987
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The spring-mass model for running and hopping
Reinhard Blickhan · 1989
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Biped locomotion: dynamics, stability, control and applications, 1990
Miomir Vucobratovic, Brainislav Borovac, Dusan Surla, and Dragan Stokic · 1990
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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
Yildirim Hurmuzlu and Dan B Marghitu · 1994
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Nonlinear control systems
Alberto Isidori · 1997
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Practical methods for optimal control using nonlinear programming, 2002
John Betts and Ilya Kolmanovsky · 2002
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Nonlinear systems
Hassan K Khalil and Jessy W Grizzle · 2002
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Rabbit: A testbed for advanced control theory
Christine Chevallereau, Gabriel Abba, Yannick Aoustin, Franck Plestan, Eric Westervelt, Carlos Canudas de Wit, and Jessy Grizzle · 2003
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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
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Hybrid zero dynamics of planar biped walkers
Eric R Westervelt, Jessy W Grizzle, and Daniel E Koditschek · 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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A geometric approach to three-dimensional hipped bipedal robotic walking
Aaron D Ames, Robert D Gregg, and Mark W Spong · 2007
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Synthesis and control of whole-body behaviors in humanoid systems
Luis Sentis · 2007
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Operational space control: A theoretical and empirical comparison
Jun Nakanishi, Rick Cory, Michael Mistry, Jan Peters, and Stefan Schaal · 2008
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MABEL, a new robotic bipedal walker and runner
Jessy W Grizzle, Jonathan Hurst, Benjamin Morris, Hae-Won Park, and Koushil Sreenath · 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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Control Lyapunov functions and hybrid zero dynamics
Aaron D Ames, Kevin Galloway, and Jessy W Grizzle · 2012
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Towards the unification of locomotion and manipulation through control Lyapunov functions and quadratic programs
Aaron D Ames and Matthew Powell · 2013
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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
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Dynamic walking and whole-body motion planning for humanoid robots: an integrated approach
Sébastien Dalibard, Antonio El Khoury, Florent Lamiraux, Alireza Nakhaei, Michel Taïx, and Jean-Paul Laumond · 2013
Cited alongside, same era.
Nonlinear systems: analysis, stability, and control
Shankar Sastry · 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.
Dynamic Humanoid Locomotion: Hybrid Zero Dynamics based Gait Optimization via Direct Collocation Methods
Ayonga Hereid · 2016
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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
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Momentum control with hierarchical inverse dynamics on a torque-controlled humanoid
Alexander Herzog, Nicholas Rotella, Sean Mason, Felix Grimminger, Stefan Schaal, and Ludovic Righetti · 2016
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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
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Optimization-based locomotion planning, estimation, and control design for the Atlas humanoid robot
Scott Kuindersma, Robin Deits, Maurice Fallon, Andrés Valenzuela, Hongkai Dai, Frank Permenter, Twan Koolen, Pat Marion, and Russ Tedrake · 2016
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Human-inspired control of bipedal walking robots
Aaron D Ames · 2014
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.
Quadratic program based nonlinear embedded control of series elastic actuators
Aaron D Ames and James Holley · 2014
Cited alongside, same era.
Rigid body dynamics algorithms
Roy Featherstone · 2014
Cited alongside, same era.
Models, feedback control, and open problems of 3D bipedal robotic walking
Jessy W Grizzle, Christine Chevallereau, Ryan W Sinnet, and Aaron D Ames · 2014
Cited alongside, same era.
Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control
Ayonga Hereid, Matthew J Powell, and Aaron D Ames · 2014
Cited alongside, same era.
An efficiently solvable quadratic program for stabilizing dynamic locomotion
Scott Kuindersma, Frank Permenter, and Russ Tedrake · 2014
Cited alongside, same era.
Later among the works it cites.
Optimal robust control for constrained nonlinear hybrid systems with application to bipedal locomotion
Quan Nguyen and Koushil Sreenath · 2016
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Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS
Jacob Reher, Ayonga Hereid, Shishir Kolathaya, Christian M Hubicki, and Aaron D Ames · 2016
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Supervised learning for stabilizing underactuated bipedal robot locomotion, with outdoor experiments on the wave field
Xingye Da, Ross Hartley, and Jessy W Grizzle · 2017
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FROST: Fast robot optimization and simulation toolkit
Ayonga Hereid and Aaron D Ames · 2017
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Fast online trajectory optimization for the bipedal robot Cassie
Taylor Apgar, Patrick Clary, Kevin Green, Alan Fern, and Jonathan W Hurst · 2018
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Ayonga Hereid, Omar Harib, Ross Hartley, Yukai Gong, and Jessy W Grizzle · 2018
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Dynamic humanoid locomotion: A scalable formulation for HZD gait optimization
Ayonga Hereid, Christian M Hubicki, Eric A Cousineau, and Aaron D Ames · 2018
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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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Coupling reduced order models via feedback control for 3D underactuated bipedal robotic walking
Xiaobin Xiong and Aaron D Ames · 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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Dynamic walking with compliance on a Cassie bipedal robot
Jacob Reher, Wen-Loong Ma, and Aaron D Ames · 2019
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Episodic learning with control Lyapunov functions for uncertain robotic systems
Andrew J Taylor, Victor D Dorobantu, Hoang M Le, Yisong Yue, and Aaron D Ames · 2019
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Jason Choi, Fernando Castaneda, Claire J Tomlin, and Koushil Sreenath · 2020
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Yukai Gong and Jessy Grizzle · 2020
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Inverse dynamics control of compliant hybrid zero dynamic walking
Jenna Reher 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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