A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL

By Koushil Sreenath, Hae-won Park, Ioannis Poulakakis, Jessy W. Grizzle. Int. J. Robotics Res., 2011

398 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Genetics

View Paper: https://www.semanticscholar.org/paper/ef1289721229cf7b497ef252fb6df1cc9a68aff3

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Citations in the corpus

Legged Locomotion in Challenging Terrains using Egocentric Vision (2022, neutral): “233 Several classical works use model based techniques, or define heuristic reactive controllers to 234 achieve the task of walking [16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28].”
RMA: Rapid Motor Adaptation for Legged Robots (2021, methodology): “Conventionally, legged locomotion has been approached by using control-based methods [35, 42, 16, 54, 48, 25, 27, 2, 23, 4].”
Extreme Parkour with Legged Robots (2023, neutral): “…reward design principle for general robot base motion acquisition, together with an automatic terrain curriculum for overcoming exploration burden in RL. • Our results set a new landmark in learning-driven park-our with high jumps that are 2x the height of the robot, long jumps that are 2x the…”
Models, feedback control, and open problems of 3D bipedal robotic walking (2014, methodology): “The robot MABEL has been controlled with relative degree 2 outputs and they have performed remarkably well in experiments [191, 192, 135, 136], allowing the robot to accommodate unseen stepdowns of 20 cm and to run on level ground at a peak speed of 3 m/s.”
Control strategies for active lower extremity prosthetics and orthotics: a review (2015, positive): “Virtual constraint control is a strategy that has been used to control locomotion in bipedal robots [168], which has since been implemented and demonstrated with a powered knee and ankle prosthesis [159,169,170].”
Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics (2014, methodology): “As is described in [48], we parametrize yd as a Bezier polynomial.”