The evolution of robotics research
E Garcia, MA Jimenez, PG De Santos… - IEEE Robotics & …, 2007 - ieeexplore.ieee.org
This article surveys traditional research topics in industrial robotics and mobile robotics and
then expands on new trends in robotics research that focus more on the interaction between …
then expands on new trends in robotics research that focus more on the interaction between …
Controlling legs for locomotion—insights from robotics and neurobiology
T Buschmann, A Ewald, A von Twickel… - Bioinspiration & …, 2015 - iopscience.iop.org
Walking is the most common terrestrial form of locomotion in animals. Its great versatility and
flexibility has led to many attempts at building walking machines with similar capabilities …
flexibility has led to many attempts at building walking machines with similar capabilities …
Trajectory free linear model predictive control for stable walking in the presence of strong perturbations
PB Wieber - 2006 6th IEEE-RAS International Conference on …, 2006 - ieeexplore.ieee.org
A humanoid walking robot is a highly nonlinear dynamical system that relies strongly on
contact forces between its feet and the ground in order to realize stable motions, but these …
contact forces between its feet and the ground in order to realize stable motions, but these …
Feature-based locomotion controllers
This paper introduces an approach to control of physics-based characters based on high-
level features of movement, such as center-of-mass, angular momentum, and end-effectors …
level features of movement, such as center-of-mass, angular momentum, and end-effectors …
Combining trajectory optimization, supervised machine learning, and model structure for mitigating the curse of dimensionality in the control of bipedal robots
To overcome the obstructions imposed by high-dimensional bipedal models, we embed a
stable walking motion in an attractive low-dimensional surface of the system's state space …
stable walking motion in an attractive low-dimensional surface of the system's state space …
Viability and predictive control for safe locomotion
PB Wieber - 2008 IEEE/RSJ International Conference on …, 2008 - ieeexplore.ieee.org
The problem of safe locomotion of legged and wheeled robots, when trying to avoid falling,
tipping over or hitting obstacles, appears to be a problem of viability and not of Lyapunov …
tipping over or hitting obstacles, appears to be a problem of viability and not of Lyapunov …
Supervised learning for stabilizing underactuated bipedal robot locomotion, with outdoor experiments on the wave field
Supervised learning is used to build a control policy for robust, stable, dynamic walking of an
underactuated bipedal robot. The training and testing sets consist of controllers based on a …
underactuated bipedal robot. The training and testing sets consist of controllers based on a …
Optimal gait synthesis of a seven-link planar biped
G Bessonnet, S Chesse… - The International journal …, 2004 - journals.sagepub.com
In this paper, we carry out the dynamics-based optimization of sagittal gait cycles of a planar
seven-link biped using the Pontryagin maximum principle. Special attention is devoted to the …
seven-link biped using the Pontryagin maximum principle. Special attention is devoted to the …
Forecasting the development of the biped robot walking technique in Japan through S-curve model analysis
CY Liu, JC Wang - Scientometrics, 2010 - akjournals.com
Patents contain much significant technical information which can serve as an indicator of
technological and economical development. This study attempts to forecast the development …
technological and economical development. This study attempts to forecast the development …
Multi-level control of zero-moment point-based humanoid biped robots: a review
Researchers dream of developing autonomous humanoid robots which behave/walk like a
human being. Biped robots, although complex, have the greatest potential for use in human …
human being. Biped robots, although complex, have the greatest potential for use in human …