A Three-Dimensional Passive-Dynamic Walking Robot with Two Legs and Knees

By Steven H. Collins, M. Wisse, Andy Ruina. Int. J. Robotics Res., 2001

911 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/800631b6f5364915a479377850b7643865f44b35

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In Biomedical Engineering

In Control and Systems Engineering

Citations in the corpus

Energetic Consequences of Walking Like an Inverted Pendulum: Step-to-Step Transitions (2005, background): “As discussed, the trends in equation (4) are robust to a variety of model features and parameters.”
The Dynamics of Legged Locomotion: Models, Analyses, and Challenges (2006, background): “Ruina and his colleagues have recently carried out rather complete studies of simplified models of these machines [81, 138], as well as of a three-dimensional version, which they have shown is dynamically stable but statically unstable [84, 82, 87].”
Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid (2012, background): “Straight-line periodic walking has been demonstrated for purely passive devices walking down a slope (McGeer 1990; Collins et al. 2001).”
How the body shapes the way we think - a new view on intelligence (2006, background): “For example, the robot is equipped with wide feet of a particular shape, elastic heels, and counterswinging arms that all help it to walk in this way (Collins et al., 2001).”
A Bipedal Walking Robot with Efficient and Human-Like Gait (2005, methodology): “The robot’s mass distribution and geometry are based on [5].”
Feedback Control of Dynamic Bipedal Robot Locomotion (2007, methodology): “In this regard, a robot with point feet functions like a passive bipedal walker [58, 59, 153].”
Learning to Walk in 20 Minutes (2005, background): “It is possible for passive walkers to have knees and arms [18], or on a more traditional humanoid robot this algorithm could be used to augment and improve and existing walking controller which produces nominal walking trajectories.”
Embodied Artificial Intelligence: Trends and Challenges (2003, background): “…has been demonstrated that by exploiting the intrinsic dynamics of an agent, the complexity of the control system can be substantially reduced (e.g. Collins et al., 2001; Iida and Pfeifer, 2004a, b; Wisse and Frankenhuyzen, 2003; Yamamoto and Kuniyoshi, 2001), as articulated in the principle of…”