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 …

The fields of control and robotics are working toward the development of bipedal robots that
can realize walking motions with the stability and agility of a human being. Dynamic models …

This paper presents a human-inspired control approach to bipedal robotic walking: utilizing
human data and output functions that appear to be intrinsic to human walking in order to …

This paper presents the methodology used to achieve efficient and dynamic walking
behaviors on the prototype humanoid robotics platform, DURUS. As a means of providing a …

This paper presents the first steps toward unifying locomotion controllers and algorithms with
whole-body control and manipulation. A theoretical framework for this unification will be …

Most birds can navigate seamlessly between aerial and terrestrial environments. Whereas
the forelimbs evolved into wings primarily for flight, the hindlimbs serve diverse functions …

This paper presents a methodology for achieving efficient multi-domain underactuated
bipedal walking on compliant robots by formally emulating gaits produced by the Spring …

Impedance control is a common framework for control of lower-limb prosthetic devices. This
approach requires choosing many impedance controller parameters. In this paper, we show …

This paper presents a methodology for translating a key feature encoded in human
locomotion—multi-contact behavior—to a physical 2D bipedal robot, AMBER2, by …

We establish stability results for PD tracking control laws in bipedal walking robots. Stability
of PD control laws for continuous robotic systems is an established result, and we extend …