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A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL Sreenath, Koushil; Park, Hae-Won; Poulakakis, Ioannis; Grizzle, J. W., INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, v.30, no.9, pp.1170 - 1193, 2011-08 |
Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL Sreenath, Koushil; Park, Hae-Won; Poulakakis, Ioannis; Grizzle, J. W., 2010 49th IEEE Conference on Decision and Control, CDC 2010, pp.280 - 287, IEEE, 2010-12-16 |
Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL Sreenath, Koushil; Park, Hae-Won; Poulakakis, Ioannis; Grizzle, J. W., INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, v.32, no.3, pp.324 - 345, 2013-03 |
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