Intuitive control of a planar bipedal walking robot

By Jerry E. Pratt, G. Pratt. 1998

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Citations in the corpus

Sim-to-Real: Learning Agile Locomotion For Quadruped Robots (2018, background): “Classical approaches often require extensive experience and tedious manual tuning [38, 8].”
Design and control of tensegrity robots for locomotion (2006, background): “The majority of legged robots have been based on this design [20], [39], although, in some robots, geared towards dynamic gait, the actuators have been supplemented with series elastic elements [37] or replaced with passive compliance [4], [38].”
Hybrid zero dynamics of planar biped walkers (2003, unknown): “Pratt et al. [46], [47] achieved a reduction in complexity through a proposed set of walking principles, such as maintaining the torso at a constant angle and the hips at a constant height above the ground while moving one foot in front of the other.”
Dynamic Balance Force Control for compliant humanoid robots (2010, methodology): “Virtual model control (VMC) [7] is the simplest method that only uses a kinematic model.”
A review of mobile robots: Concepts, methods, theoretical framework, and applications (2019, background): “They can only be statically stable to some extent.(43) Nowadays, there are many biped robots that possess the capability to climb over surfaces with different slopes.”
Introduction to Autonomous Mobile Robots (2004, background): “14 The Spring Flamingo developed at MIT [123].”
Feedback Control of Dynamic Bipedal Robot Locomotion (2007, methodology): “The same solution for lateral stabilization had been implemented in the design of Kenkyaku [82], Meltran II [133], and robots in the MIT Leg Lab [178, 182].”
Asymptotically stable walking for biped robots: analysis via systems with impulse effects (2001, background): “These include controlling energy, angular momentum, and others [46], [50], [35], [26], [27], [20], [36], [45], [16].”
Toward fast policy search for learning legged locomotion (2012, methodology): “They are usually either optimized for accurate trajectory tracking, such as Honda’s Asimo, or having passive dynamics with only a limited access for actuation [18].”
Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid (2012, methodology): “Each DoF is driven by an identical force controllable Series Elastic Actuator (SEA) (Pratt and Williamson 1995; Pratt and Pratt 2002).”
A direct method for trajectory optimization of rigid bodies through contact (2014, methodology): “To analyze a more realistic system, we tested our methods on a planar simulation of the Spring Flamingo robot (Pratt and Pratt, 1998).”
Learning from demonstration and adaptation of biped locomotion (2004, background): “[18] is quite simple and easy to implement.”