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Valkyrie: NASA's First Bipedal Humanoid Robot
In December 2013, 16 teams from around the world gathered at Homestead Speedway near Miami, FL to participate in the DARPA Robotics Challenge DRC Trials, an aggressive robotics competition partlyExpand
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Models, feedback control, and open problems of 3D bipedal robotic walking
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 for bipeds areExpand
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3D Bipedal Robotic Walking: Models, Feedback Control, and Open Problems
Abstract The fields of control and robotics are contributing to the development of bipedal robots that can realize walking motions with the stability and agility of a human being. Dynamic models forExpand
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A Human-Inspired Hybrid Control Approach to Bipedal Robotic Walking
Abstract A human-inspired method for achieving bipedal robotic walking is proposed in which a hybrid model of a human is used in conjunction with experimental walking data to obtain a multi-domainExpand
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Energy Shaping of Mechanical Systems via Control Lyapunov Functions with Applications to Bipedal Locomotion
This dissertation presents a method which attempts to improve the stability properties of periodic orbits in hybrid dynamical systems by shaping the energy. By taking advantage of conservation ofExpand
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Three-Dimensional Kneed Bipedal Walking: A Hybrid Geometric Approach
A 3D biped with knees and a hip is naturally modeled as a nontrivial hybrid system; impacts occur when the knee strikes and when the foot impacts the ground causing a switch in the dynamics governingExpand
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3D bipedal walking with knees and feet: A hybrid geometric approach
Motivated by the goal of obtaining more-anthropomorphic walking in bipedal robots, this paper considers a hybrid model of a 3D hipped biped with feet and locking knees. The main observation of thisExpand
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2D bipedal walking with knees and feet: A hybrid control approach
In this paper, we consider an anthropomorphically-inspired hybrid model of a bipedal robot with locking knees and feet in order to develop a control law that results in human-like walking. TheExpand
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Bio-Inspired Feedback Control of Three-Dimensional Humanlike Bipedal Robots
Bridging contemporary techniques in bio-inspired control affords a unique perspective into human locomotion where the interplay between sagittal and coronal dynamics is understood and exploited toExpand
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Compass gait revisited: A human data perspective with extensions to three dimensions
To better understand human walking, three bipedal robotic models—starting with the compass gait biped and increasing in complexity to a 3D kneed biped—are studied with controllers of human-inspiredExpand
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