Dynamic walking: Toward agile and efficient bipedal robots
Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical
reality. This is due to continued progress in three key areas: a mathematical understanding …
reality. This is due to continued progress in three key areas: a mathematical understanding …
Recent progress in legged robots locomotion control
Purpose of review In recent years, legged robots locomotion has been transitioning from
mostly flat ground in controlled settings to generic indoor and outdoor environments …
mostly flat ground in controlled settings to generic indoor and outdoor environments …
[KSIĄŻKA][B] Kinematics
The theory to analyze the relationship between the position and attitude of a link and the
joint angles of a mechanism is called Kinematics. It is the basis on which robotics is formed …
joint angles of a mechanism is called Kinematics. It is the basis on which robotics is formed …
Three-dimensional bipedal walking control based on divergent component of motion
In this paper, the concept of divergent component of motion (DCM, also called “Capture
Point”) is extended to 3-D. We introduce the “Enhanced Centroidal Moment Pivot …
Point”) is extended to 3-D. We introduce the “Enhanced Centroidal Moment Pivot …
Capturability-based analysis and control of legged locomotion, part 1: Theory and application to three simple gait models
This two-part paper discusses the analysis and control of legged locomotion in terms of N-
step capturability: the ability of a legged system to come to a stop without falling by taking N …
step capturability: the ability of a legged system to come to a stop without falling by taking N …
Design of a momentum-based control framework and application to the humanoid robot atlas
This paper presents a momentum-based control framework for floating-base robots and its
application to the humanoid robot “Atlas”. At the heart of the control framework lies a …
application to the humanoid robot “Atlas”. At the heart of the control framework lies a …
Modeling and control of legged robots
The promise of legged robots over wheeled robots is to provide improved mobility over
rough terrain. Unfortunately, this promise comes at the cost of a significant increase in …
rough terrain. Unfortunately, this promise comes at the cost of a significant increase in …
Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid
This two-part paper discusses the analysis and control of legged locomotion in terms of N-
step capturability: the ability of a legged system to come to a stop without falling by taking N …
step capturability: the ability of a legged system to come to a stop without falling by taking N …
Low-bandwidth reflex-based control for lower power walking: 65 km on a single battery charge
PA Bhounsule, J Cortell, A Grewal… - … Journal of Robotics …, 2014 - journals.sagepub.com
No legged walking robot yet approaches the high reliability and the low power usage of a
walking person, even on flat ground. Here we describe a simple robot which makes small …
walking person, even on flat ground. Here we describe a simple robot which makes small …
Zero dynamics, pendulum models, and angular momentum in feedback control of bipedal locomotion
Y Gong, JW Grizzle - Journal of Dynamic Systems …, 2022 - asmedigitalcollection.asme.org
Low-dimensional models are ubiquitous in the bipedal robotics literature. On the one hand
is the community of researchers that bases feedback control design on pendulum models …
is the community of researchers that bases feedback control design on pendulum models …