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IEEE Transactions on Biomedical Engineering, ISSN 0018-9294, 10/2011, Volume 58, Issue 10, pp. 2867 - 2875
Journal Article
Autonomous robots, ISSN 1573-7527, 07/2015, Volume 40, Issue 3, pp. 429 - 455
Journal Article
The International Journal of Robotics Research, ISSN 0278-3649, 7/2014, Volume 33, Issue 8, pp. 1047 - 1062
This paper presents the application of operational space control based on hierarchical task optimization for quadrupedal locomotion... 
Quadruped | Robust locomotion | Design and control | Dynamics | Legged robots | Motion control | Technology | Robotics | Science & Technology | Control systems | Usage | Incremental motion control | Research | Multilevel analysis | Priorities | Interpolation | Transitions | Knowledge | Optimization | Locomotion | Torque | Gait | Dynamical systems | Robots | Contact
Journal Article
The International Journal of Robotics Research, ISSN 0278-3649, 11/2015, Volume 34, Issue 13, pp. 1541 - 1558
.... Locomotion planning for this robot is challenging due to kinematic redundancy. We present an end-to-end planning method that exploits a reduced-dimension rapidly... 
Legged locomotion | DARPA robotics challenge | quadruped | rough terrain | trajectory planning | Kinematics | Research | Performance evaluation | Algorithms | Robotics
Journal Article
The International journal of robotics research, ISSN 0278-3649, 07/2012, Volume 31, Issue 9, pp. 1094 - 1113
This two-part paper discusses the analysis and control of legged locomotion in terms of N-step capturability... 
Capture points | Push recovery | Capturability | Legged robots | Viability | Technology | Robotics | Science & Technology | Mathematical models | Series & special reports | Motion control | Robots | Locomotion | Robot control | Humanoid | Angular momentum | Control systems | Falling | Three dimensional
Journal Article
Advanced robotics, ISSN 0169-1864, 06/2012, Volume 26, Issue 10, pp. 1099 - 1126
.... The output sequence defines the contact transitions that allow our robot to realize different kind of tasks, ranging from biped locomotion to dexterous manipulation... 
dexterous manipulation | inverse kinematics | legged locomotion | humanoid robot | planning algorithm | Technology | Robotics | Science & Technology | Computer Science
Journal Article
IEEE Transactions on Robotics, ISSN 1552-3098, 10/2006, Volume 22, Issue 5, pp. 944 - 957
Journal Article
IEEE/ASME Transactions on Mechatronics, ISSN 1083-4435, 04/2013, Volume 18, Issue 2, pp. 449 - 458
Drawing inspiration from nature, this paper introduces and compares two compliant robotic legs that are able to perform precise joint torque and position... 
Damping | Knee | Legged locomotion | scarlETH | series elastic actuation (SEA) | Legged robot | torque control | Joints | Springs | Hip | Series elastic actuation (SEA) | Torque control | ScarlETH | Engineering | Technology | Engineering, Electrical & Electronic | Automation & Control Systems | Engineering, Manufacturing | Engineering, Mechanical | Science & Technology
Journal Article
IEEE Robotics & Automation Magazine, ISSN 1070-9932, 06/2007, Volume 14, Issue 2, pp. 30 - 40
In this article, we have shown how to design energy-based and passivity-based control laws that exploit the existence of passive walking gaits to achieve... 
Legged locomotion | Robust control | Shape control | Uncertainty | Limit-cycles | Robustness | Feedback control | Lagrangian functions | Leg | Centralized control | Passive walking | Trajectory time scaling | Passivity-based control | Group action | Potential energy shaping | Limit cycle | Bipedal locomotion | Symmetry | Studies | Slopes | Walking | Automation | Reduction | Gait | Laws | Grounds | Three dimensional
Journal Article