Legged Robots That Balance

By M. Raibert, E. Tello. 1986

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Citations in the corpus

Sim-to-Real: Learning Agile Locomotion For Quadruped Robots (2018, background): “Designing agile locomotion for quadruped robots is a longstanding research problem [39].”
Introduction to Autonomous Mobile Robots (2004, background): “9 shows the Raibert hopper [28, 124], one of the most well-known singlelegged hopping robots created.”
Averaging and control of nonlinear systems (2003, background): “The references [38, 55, 102, 138, 163] provide a good introduction into the diversity and difficulty of biologically-inspired locomotive strategies.”
Learning control Lyapunov function to ensure stability of dynamical system-based robot reaching motions (2014, background): “Central Pattern Generators (CPGs) are also another type of DS model that are suggested to model rhythmic behaviors [42, 43].”
Modular Hopping and Running via Parallel Composition (2017, methodology): “…and approach: Heterogeneity of modules Many modular robot algorithms typically assume that the compo- nents are interchangeable (e.g. Sung et al. (2015)), while in our area of interest these behavioral components are usually26 distinct (e.g. control of hopping in three parts Raibert (1986)).”
HumanPlus: Humanoid Shadowing and Imitation from Humans (2024, background): “While model-based control [16, 36, 40, 55, 69, 92, 98] has made tremendous progress on a wide variety of humanoid robots [13, 32, 37, 54, 65, 89], learning-based meth-ods can achieve robust locomotion performance for humanoids [39, 67, 68, 85, 91, 94, 103] and biped robots [4, 42, 44, 45, 83, 84,…”
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].”
Cognitive Developmental Robotics: A Survey (2009, methodology): “Based on a similar dynamic model, Raibert carried out pioneering research and developed a biped robot that had a springy prismatic joint that could run, jump, and perform somersaults [55].”
The Penn Jerboa: A Platform for Exploring Parallel Composition of Templates (2015, methodology): “1 The Raibert Stepping Controller In his classical empirical study, Raibert [14] inspired decades of subsequent experimentation and analysis by offering the following observations6 about the pendular stance phase in his running machine travelling at forward speed, 9 x, and stepping with a touchdown ”
Ground Reference Points in Legged Locomotion: Definitions, Biological Trajectories and Control Implications (2005, background): “…body’s angular velocity vector, its accurate estimate requires a small integration time span and a correspondingly small error in the angular velocity vector. to accelerate the system (Hinrichs, Cavanagh and Williams 1983; Raibert, 1986; Dapena and McDonald 1989; LeBlanc and Dapena 1996; Gu 2003).”
SIMBICON: simple biped locomotion control (2007, methodology): “The seminal work of Raibert, Hodgins, and colleagues[Raibert 1986; Raibert and Hodgins 1991; Hodgins 1991; Hodgins et al. 1995] contains key insights into producing robust hopping and running gaits.”
Manuscript: Stable Running with Segmented Legs ¤ (2008, unknown): “This includes swing - leg strategies to adjust the leg angle before touch - down ( Raibert , 1986 ) and changes of mechan - ical properties ( e . g . leg stiffness ( Blum et al .”
Adaptive Dynamic Walking of a Quadruped Robot on Natural Ground Based on Biological Concepts (2007, methodology): “…the adjustment of touchdown angle (stepping reflex) of a swinging leg (Miura and Shimoyama 1984 Raibert 1986 Townsend 1985 Bauby and Kuo 2000), and the switching of leg stiffness between stance and swing phases (Raibert 1986 Kimura et al. 1990 Taga et al. 1991 Taga 1995 Fukuoka et al. 2003a).”