Fetching the paper…
Reading the bibliography…
The ability to generate robust walking gaits on bipedal robots is key to their successful realization on hardware.
M. H. Raibert, “Hopping in legged systems—modeling and simulation for the two-dimensional one-legged case,”
1984
Earlier work this paper cites.
C. Glocker and F. Pfeiffer, “Dynamical systems with unilateral contacts,”
1992
Earlier work this paper cites.
Y. Hurmuzlu and D. B. Marghitu, “Rigid body collisions of planar kinematic chains with multiple contact points,”
1994
Earlier work this paper cites.
W. Lohmiller and J.-J. E. Slotine, “On contraction analysis for non-linear systems,”
1998
Earlier work this paper cites.
J. Lygeros, K. H. Johansson, S. Sastry, and M. Egerstedt, “On the existence of executions of hybrid automata,” in
1999
Earlier work this paper cites.
K. D. Mombaur, “Stability optimization of open-loop controlled walking robots,” Ph.D. dissertation, 2001
2001
Earlier work this paper cites.
J. W. Grizzle, G. Abba, and F. Plestan, “Asymptotically stable walking for biped robots: Analysis via systems with impulse effects,”
2001
Earlier work this paper cites.
E. R. Westervelt, J. W. Grizzle, and D. E. Koditschek, “Hybrid zero dynamics of planar biped walkers,”
2003
Earlier work this paper cites.
J. Lygeros, K. H. Johansson, S. N. Simic, J. Zhang, and S. S. Sastry, “Dynamical properties of hybrid automata,”
2003
Earlier work this paper cites.
C. Chevallereau, D. Djoudi, and J. W. Grizzle, “Stable bipedal walking with foot rotation through direct regulation of the zero moment point,”
2008
Earlier work this paper cites.
A. D. Ames, R. W. Sinnet, and E. D. Wendel, “Three-dimensional kneed bipedal walking: A hybrid geometric approach,” in
2009
Earlier work this paper cites.
R. W. Sinnet and A. D. Ames, “2d bipedal walking with knees and feet: A hybrid control approach,” in
2009
Earlier work this paper cites.
D. A. Winter,
2009
Earlier work this paper cites.
J. W. Grizzle, C. Chevallereau, A. D. Ames, and R. W. Sinnet, “3D bipedal robotic walking: models, feedback control, and open problems,”
2010
Earlier work this paper cites.
K. Sreenath, H.-W. Park, I. Poulakakis, and J. W. Grizzle, “A compliant hybrid zero dynamics controller for stable, efficient and fast bipedal walking on mabel,”
2011
Earlier work this paper cites.
H. Dai and R. Tedrake, “Optimizing robust limit cycles for legged locomotion on unknown terrain,” in
2012
Earlier work this paper cites.
P. Fankhauser, M. Hutter, C. Gehring, M. Bloesch, M. A. Hoepflinger, and R. Siegwart, “Reinforcement learning of single legged locomotion,” in
2013
Earlier work this paper cites.
R. I. Leine and H. Nijmeijer,
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,”
2014
Cited alongside, same era.
A. D. Ames, “Human-inspired control of bipedal walking robots,”
2014
Cited alongside, same era.
W.-L. Ma, S. Kolathaya, E. R. Ambrose, C. M. Hubicki, and A. D. Ames, “Bipedal robotic running with DURUS-2D: Bridging the gap between theory and experiment,” in
2017
Cited alongside, same era.
H. Zhao, A. Hereid, W.-l. Ma, and A. D. Ames, “Multi-contact bipedal robotic locomotion,”
2017
Cited alongside, same era.
A. Hereid and A. D. Ames, “FROST: Fast robot optimization and simulation toolkit,” in
V. Paredes and A. Hereid, “Dynamic locomotion of a lower-limb exoskeleton through virtual constraints based ZMP regulation,” in
2020
Later among the works it cites.
G. A. Castillo, B. Weng, T. C. Stewart, W. Zhang, and A. Hereid, “Velocity regulation of 3D bipedal walking robots with uncertain dynamics through adaptive neural network controller,” in
2020
Later among the works it cites.
J. P. Reher, A. Hereid, S. Kolathaya, C. M. Hubicki, and A. D. Ames, “Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS,” in
2020
Later among the works it cites.
M. Tucker, E. Novoseller, C. Kann, Y. Sui, Y. Yue, J. W. Burdick, and A. D. Ames, “Preference-based learning for exoskeleton gait optimization,” in
2020
Later among the works it cites.
M. Tucker, M. Cheng, E. Novoseller, R. Cheng, Y. Yue, J. W. Burdick, and A. D. Ames, “Human preference-based learning for high-dimensional optimization of exoskeleton walking gaits,” in
alphaXiv searches the wider corpus for related work and actual follow-ups.
alphaXiv is searching for related work…
2017
Cited alongside, same era.
E. Ambrose, W.-L. Ma, C. Hubicki, and A. D. Ames, “Toward benchmarking locomotion economy across design configurations on the modular robot: AMBER-3M,” in
2017
Cited alongside, same era.
Z. Xie, G. Berseth, P. Clary, J. Hurst, and M. van de Panne, “Feedback control for cassie with deep reinforcement learning,” in
2018
Cited alongside, same era.
A. Hereid, C. M. Hubicki, E. A. Cousineau, and A. D. Ames, “Dynamic humanoid locomotion: A scalable formulation for HZD gait optimization,”
2018
Cited alongside, same era.
O. Harib, A. Hereid, A. Agrawal, T. Gurriet, S. Finet, G. Boeris, A. Duburcq, M. E. Mungai, M. Masselin, A. D. Ames
2018
Cited alongside, same era.
S. A. Burden, T. Libby, and S. D. Coogan, “On contraction analysis for hybrid systems,”
2018
Cited alongside, same era.
J. Hwangbo, J. Lee, and M. Hutter, “Per-contact iteration method for solving contact dynamics,”
2018
Cited alongside, same era.
2020
Later among the works it cites.
J. Reher and A. D. Ames, “Dynamic walking: Toward agile and efficient bipedal robots,”
2021
Later among the works it cites.
J.-P. Sleiman, F. Farshidian, M. V. Minniti, and M. Hutter, “A unified mpc framework for whole-body dynamic locomotion and manipulation,”
2021
Later among the works it cites.
G. García, R. Griffin, and J. Pratt, “Mpc-based locomotion control of bipedal robots with line-feet contact using centroidal dynamics.” in
2021
Later among the works it cites.
Z. Li, X. Cheng, X. B. Peng, P. Abbeel, S. Levine, G. Berseth, and K. Sreenath, “Reinforcement learning for robust parameterized locomotion control of bipedal robots,” in
2021
Later among the works it cites.
2021
Later among the works it cites.
M. Tucker, N. Csomay-Shanklin, W.-L. Ma, and A. D. Ames, “Preference-based learning for user-guided HZD gait generation on bipedal walking robots,” in
2021
Later among the works it cites.
N. J. Kong, J. J. Payne, G. Council, and A. M. Johnson, “The salted kalman filter: Kalman filtering on hybrid dynamical systems,”
2021
Later among the works it cites.
V. C. Paredes and A. Hereid, “Resolved motion control for 3D underactuated bipedal walking using linear inverted pendulum dynamics and neural adaptation,” in
2022
Closest in time.
N. Rudin, D. Hoeller, P. Reist, and M. Hutter, “Learning to walk in minutes using massively parallel deep reinforcement learning,” in
2022
Closest in time.
J. J. Payne, N. J. Kong, and A. M. Johnson, “The uncertainty aware salted kalman filter: State estimation for hybrid systems with uncertain guards,” in
2022
Closest in time.
J. Zhu, N. J. Kong, G. Council, and A. M. Johnson, “Hybrid event shaping to stabilize periodic hybrid orbits,” in
2022
Closest in time.
S. Singh, R. P. Russell, and P. M. Wensing, “Efficient analytical derivatives of rigid-body dynamics using spatial vector algebra,”
2022
Closest in time.