Bipedal walking control based on Capture Point dynamics

By Johannes Englsberger, Christian Ott, Máximo A. Roa, Alin Olimpiu Albu-Schäffer, G. Hirzinger. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

299 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Genetics

View Paper: https://www.semanticscholar.org/paper/d8b4d3779dc3d6ccfb70d62b7e2c720ce482edf2

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

1. Twan Koolen
2. Tomas de Boer
3. John R. Rebula
4. Alin Olimpiu Albu-Schäffer
5. Jerry E. Pratt
6. Christian Ott
7. John Carff
8. Matt Johnson

In Genetics

1. Ambarish Goswami

Citations in the corpus

• Three-Dimensional Bipedal Walking Control Based on Divergent Component of Motion (2015, background): “The state variable related to the unstable part of the dynamics has been referred to as “(instantaneous) Capture Point” by Pratt and Koolen et al. [14]–[16], “Extrapolated Center of Mass” by Hof et al. [13], and “Divergent Component of Motion” (DCM) by Takenaka et al. [17].”
• Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models (2011, methodology): “This equivalent constant CoP is a useful analysis tool and can also be applied to robot control, as demonstrated recently (Englsberger et al. 2011).”
• Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid (2012, background): “Englsberger et al. (2011) introduced a walking controller based on capture point dynamics.”