Control of a four-link biped in a back somersault maneuver
IEEE Transactions on Systems, Man and Cybernetics - Special issue on artificial intelligence
International Journal of Robotics Research
Sensor-based control of a nine-link biped
International Journal of Robotics Research
A Control Strategy for Terrain Adaptive Bipedal Locomotion
Autonomous Robots
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 1 - Volume 1
An anthropomorphic biped robot: dynamic concepts and technological design
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Ascending and descending stairs for a biped robot
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Paper: Control method of biped locomotion giving asymptotic stability of trajectory
Automatica (Journal of IFAC)
Brief Direct adaptive control design for one-degree-of-freedom complementary-slackness jugglers
Automatica (Journal of IFAC)
Using Toe-Off Impulse to Control Chaos in the Simplest Walking Model via Artificial Neural Network
ISNN 2009 Proceedings of the 6th International Symposium on Neural Networks: Advances in Neural Networks - Part III
Planning and Control of Biped Walking along Curved Paths on Unknown and Uneven Terrain
ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
Biologically inspired posture recognition and posture change detection for humanoid robots
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Robust motion control of Biped walking robots
WSEAS Transactions on Systems and Control
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Foot-terrain interaction mechanics for legged robots: Modeling and experimental validation
International Journal of Robotics Research
Mathematics and Computers in Simulation
Quasi optimal sagittal gait of a biped robot with a new structure of knee joint
Robotics and Autonomous Systems
Hi-index | 22.14 |
The focus of this survey is the modeling and control of bipedal locomotion systems. More specifically, we seek to review the developments in the field within the framework of stability and control of systems subject to unilateral constraints. We place particular emphasis on three main issues that, in our view, form the underlying theory in the study of bipedal locomotion systems. Impact of the lower limbs with the walking surface and its effect on the walking dynamics was considered first. The key issue of multiple impacts is reviewed in detail. Next, we consider the dynamic stability of bipedal gait. We review the use of discrete maps in studying the stability of the closed orbits that represent the dynamics of a biped, which can be characterized as a hybrid system. Last, we consider the control schemes that have been used in regulating the motion of bipedal systems. We present an overview of the existing work and seek to identify the needed future developments. Due to the very large number of publications in the field, we made the choice to mainly focus on journal papers.