Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid
By Jerry E. Pratt, Twan Koolen, Tomas de Boer, John R. Rebula, Sébastien Cotton, John Carff, Matt Johnson, Peter D. Neuhaus. Int. J. Robotics Res., 2012
302 citations recorded by the source corpus.
Subfields: Biomedical Engineering
View Paper: https://www.semanticscholar.org/paper/284d5a1842c48eaa7430e96ade003a6e7ed6be4f
How researchers see this paper
The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.
In Biomedical Engineering
- Aaron D. Ames
- Christine Chevallereau
- Jessy W. Grizzle
- Ryan W. Sinnet
- Alin Olimpiu Albu-Schäffer
- Twan Koolen
- Tomas de Boer
- John R. Rebula
Citations in the corpus
- A reactive controller framework for quadrupedal locomotion on challenging terrain (2013, methodology): “For example, the 3D Linear Inverted Pendulum [13], the Linear Inverted Pendulum plus Flywheel [14], the Linear Inverted Pendulum with finite-size foot and reactive mass [15].”
- Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway (2018, background): “Simplifying the robot’s dynamics to a point mass attached to a rod of fixed length, the socalled (inverted) pendulum models, is another ubiquitous means in the bipedal robotics literature to approach the gait design and stabilization problem [13], [23], [25], [27], [30].”
- Three-Dimensional Bipedal Walking Control Based on Divergent Component of Motion (2015, background): “Several previous works [13]–[21] propose to split the CoM dynamics into a stable and an unstable part.”
- Models, feedback control, and open problems of 3D bipedal robotic walking (2014, methodology): “it can slide in the presence of insu cient friction, as in Rodriguez and Bowling [2013]. A point foot that was in rigid contact before impact can either lift-o , stay put, or slide.”
- Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models (2011, methodology): “In Part 2 of the paper (Pratt et al. 2012), we demonstrate the utility of the capturability framework by using the results of the simple gait models to control and analyze balancing and walking motions of a 3D bipedal robot with two 6-degree-of-freedom (6-DoF) legs.”