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Quadruped animals seamlessly transition between gaits as they change locomotion speeds.
The intrinsic factors in the act of progression in the mammal
Brown, T. G · 1911
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Control of walking and running by means of electrical stimulation of the mesencephalon
Shik, M., Severin, F. & Orlovsky, G · 1969
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On the initiation of the swing phase of locomotion in chronic spinal cats
Grillner, S. & Rossignol, S · 1978
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On the central generation of locomotion in the low spinal cat
Grillner, S. & Zangger, P · 1979
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Gait and the energetics of locomotion in horses
Hoyt, D. F. & Taylor, C. R · 1981
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A mechanical trigger for the trot-gallop transition in horses
Farley, C. T. & Taylor, C. R · 1991
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Preferred and energetically optimal gait transition speeds in human locomotion
Hreljac, A · 1993
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Why change gaits? dynamics of the walk-run transition
Diedrich, F. J. & Warren Jr, W. H · 1995
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Energy cost and stride duration variability at preferred transition gait speed between walking and running
Brisswalter, J. & Mottet, D · 1996
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Control of locomotion in the decerebrate cat
Whelan, P. J · 1996
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Dynamics of human gait transitions
Diedrich, F. & Warren, W · 1998
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Comparison between preferred and energetically optimal transition speeds in adolescents
Tseh, W., Bennett, J., Caputo, J. L. & Morgan, D. W · 2002
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On the stability of walking systems
Wieber, P.-B · 2002
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The cost of transport in an extended trot
Wickler, S., Hoyt, D., Cogger, E. & McGuire, R · 2002
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Biomechanical and energetic determinants of the walk–trot transition in horses
Griffin, T. M., Kram, R., Wickler, S. J. & Hoyt, D. F · 2004
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The condition for dynamic stability
Hof, A., Gazendam, M. & Sinke, W · 2005
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Modelling spinal circuitry involved in locomotor pattern generation: insights from deletions during fictive locomotion
Rybak, I. A., Shevtsova, N. A., Lafreniere-Roula, M. & McCrea, D. A · 2006
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Adaptive dynamic walking of a quadruped robot on natural ground based on biological concepts
Kimura, H., Fukuoka, Y. & Cohen, A. H · 2007
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From swimming to walking with a salamander robot driven by a spinal cord model
Ijspeert, A. J., Crespi, A., Ryczko, D. & Cabelguen, J.-M · 2007
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Contextual learning and obstacle memory in the walking cat
McVea, D. & Pearson, K · 2007
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Central pattern generators for locomotion control in animals and robots: A review
Ijspeert, A. J · 2008
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Learning cpg-based biped locomotion with a policy gradient method: Application to a humanoid robot
Endo, G., Morimoto, J., Matsubara, T., Nakanishi, J. & Cheng, G · 2008
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Viability and predictive control for safe locomotion
Wieber, P.-B · 2008
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Angular momentum in human walking
Herr, H. & Popovic, M · 2008
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Hind limb stepping over obstacles in the horse guided by place-object memory
Whishaw, I. Q., Sacrey, L.-A. R. & Gorny, B · 2009
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Hysteresis in the gait transition of a quadruped investigated using simple body mechanical and oscillator network models
Aoi, S., Yamashita, T. & Tsuchiya, K · 2011
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Learning, planning, and control for quadruped locomotion over challenging terrain
Kalakrishnan, M., Buchli, J., Pastor, P., Mistry, M. & Schaal, S · 2011
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Local dynamic stability and variability of gait are associated with fall history in elderly subjects
Toebes, M. J., Hoozemans, M. J., Furrer, R., Dekker, J. & van Dieën, J. H · 2012
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A terradynamics of legged locomotion on granular media
Li, C., Zhang, T. & Goldman, D. I · 2013
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A survey on cpg-inspired control models and system implementation
Yu, J., Tan, M., Chen, J. & Zhang, J · 2013
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Towards dynamic trot gait locomotion: Design, control, and experiments with cheetah-cub, a compliant quadruped robot
Spröwitz, A. et al · 2013
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Central pattern generators augmented with virtual model control for quadruped rough terrain locomotion
Ajallooeian, M., Pouya, S., Sproewitz, A. & Ijspeert, A. J · 2013
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Visual-locomotion: Learning to walk on complex terrains with vision
Yu, W. et al · 2021
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Robust walking based on mpc with viability guarantees
Yeganegi, M. H., Khadiv, M., Del Prete, A., Moosavian, S. A. A. & Righetti, L · 2021
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Isaac gym: High performance gpu-based physics simulation for robot learning
Makoviychuk, V. et al · 2021
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A1 (2021)
Unitree Robotics · 2021
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Versatile modular neural locomotion control with fast learning
Thor, M. & Manoonpong, P · 2022
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Minimizing energy consumption leads to the emergence of gaits in legged robots
Fu, Z., Kumar, A., Malik, J. & Pathak, D · 2022
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Aoi, S. et al · 2013
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Biorobotics: Using robots to emulate and investigate agile locomotion
Ijspeert, A. J · 2014
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A simple rule for quadrupedal gait generation determined by leg loading feedback: a modeling study
Fukuoka, Y., Habu, Y. & Fukui, T · 2015
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High-dimensional continuous control using generalized advantage estimation
Schulman, J., Moritz, P., Levine, S., Jordan, M. I. & Abbeel, P · 2015
Cited alongside, same era.
Modeling and control of legged robots
Wieber, P.-B., Tedrake, R. & Kuindersma, S · 2016
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Adaptive control strategies for interlimb coordination in legged robots: a review
Aoi, S., Manoonpong, P., Ambe, Y., Matsuno, F. & Wörgötter, F · 2017
Cited alongside, same era.
A quadruped robot exhibiting spontaneous gait transitions from walking to trotting to galloping
Owaki, D. & Ishiguro, A · 2017
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Learning free gait transition for quadruped robots via phase-guided controller
Shao, Y. et al · 2022
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Robust high-speed running for quadruped robots via deep reinforcement learning
Bellegarda, G., Chen, Y., Liu, Z. & Nguyen, Q · 2022
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Opt-mimic: Imitation of optimized trajectories for dynamic quadruped behaviors
Fuchioka, Y., Xie, Z. & van de Panne, M · 2022
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Fast and efficient locomotion via learned gait transitions
Yang, Y., Zhang, T., Coumans, E., Tan, J. & Boots, B · 2022
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Pi-ars: Accelerating evolution-learned visual-locomotion with predictive information representations
Lee, K.-H. et al · 2022
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Legged locomotion in challenging terrains using egocentric vision
Agarwal, A., Kumar, A., Malik, J. & Pathak, D · 2022
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Glide: Generalizable quadrupedal locomotion in diverse environments with a centroidal model
Xie, Z., Da, X., Babich, B., Garg, A. & de Panne, M. v · 2022
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Vision-aided dynamic quadrupedal locomotion on discrete terrain using motion libraries
Agrawal, A., Chen, S., Rai, A. & Sreenath, K · 2022
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Learning to jump from pixels
Margolis, G. B. et al · 2022
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Advanced skills by learning locomotion and local navigation end-to-end
Rudin, N., Hoeller, D., Bjelonic, M. & Hutter, M · 2022
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Viability, task switching, and fall avoidance of the simplest dynamic walker
Patil, N. S., Dingwell, J. B. & Cusumano, J. P · 2022
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Webplotdigitizer: Version 4.6 (2022)
Rohatgi, A · 2022
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CPG-RL: Learning central pattern generators for quadruped locomotion
Bellegarda, G. & Ijspeert, A · 2022
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Learning to walk in minutes using massively parallel deep reinforcement learning
Rudin, N., Hoeller, D., Reist, P. & Hutter, M · 2022
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Barkour: Benchmarking animal-level agility with quadruped robots
Caluwaerts, K. et al · 2023
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Learning agile skills via adversarial imitation of rough partial demonstrations
Li, C. et al · 2023
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Learning and adapting agile locomotion skills by transferring experience
Smith, L. et al · 2023
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Rl+ model-based control: Using on-demand optimal control to learn versatile legged locomotion
Kang, D., Cheng, J., Zamora, M., Zargarbashi, F. & Coros, S · 2023
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Puppeteer and marionette: Learning anticipatory quadrupedal locomotion based on interactions of a central pattern generator and supraspinal drive
Shafiee, M., Bellegarda, G. & Ijspeert, A · 2023
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Neural volumetric memory for visual locomotion control
Yang, R., Yang, G. & Wang, X · 2023
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