Concepedia

Underactuated Locomotion

Underactuated Locomotion is a biomechanical control paradigm in which a bipedal system exhibits fewer independent control inputs than available degrees of freedom, leading to intrinsic dynamic constraints that must be exploited for stable and efficient motion.

112

Publications

7.7K

Citations

246

Authors

114

Institutions

Publications per year

2017–2026

27

Parents

Publications

112

Asymptotically stable walking for biped robots: analysis via systems with impulse effects

J.W. Grizzle, Gabriel Abba, Franck Plestan · IEEE Transactions on Automatic Control · 2001 · 992 citations

, , +17

Hybrid zero dynamics of planar biped walkers

E. R. Westervelt, Jessy W. Grizzle, Daniel E. Koditschek · IEEE Transactions on Automatic Control · 2003 · 861 citations · Full text

, , +17

MACCEPA, the mechanically adjustable compliance and controllable equilibrium position actuator: Design and implementation in a biped robot

Ronald Van Ham, Bram Vanderborght, Michaël Van Damme et al. · Robotics and Autonomous Systems · 2007 · 369 citations

, , +16

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

Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis et al. · The International Journal of Robotics Research · 2010 · 348 citations

, , +17

SIMBICON

KangKang Yin, Kevin Loken, Michiel van de Panne · 2007 · 334 citations

, , +17

1–5 of 112

Authors

246

  1. JW
    Jessy W. Grizzle

    University of Michigan, United States

    16 publications · 2.2K citations

    14

    h-index

  2. AD
    Aaron D. Ames

    California Institute of Technology, United States

    12 publications · 635 citations

    12

    h-index

  3. CC
    Christine Chevallereau

    Centre National de la Recherche Scientifique, France

    7 publications · 207 citations

    7

    h-index

  4. ER
    E. R. Westervelt

    The Ohio State University, United States

    6 publications · 1.4K citations

    6

    h-index

  5. FA
    Fumihiko Asano

    Japan Advanced Institute of Science and Technology, Japan

    5 publications · 84 citations

    5

    h-index

1–5 of 246

Institutions

114

  1. University of Michigan

    Ann Arbor, United States

    17 h-index

    38 publications

    7K citations

  2. Centre National de la Recherche Scientifique

    Paris, France

    6 h-index

    15 publications

    634 citations

  3. Texas A&M University

    College Station, United States

    6 h-index

    11 publications

    587 citations

  4. École Centrale de Nantes

    Nantes, France

    6 h-index

    9 publications

    1.5K citations

  5. The Ohio State University

    Columbus, United States

    5 h-index

    8 publications

    343 citations

  6. California Institute of Technology

    Pasadena, United States

    5 h-index

    11 publications

    263 citations

  7. National Taiwan University of Science and Technology

    Taipei, Taiwan

    4 h-index

    5 publications

    100 citations

  8. Japan Advanced Institute of Science and Technology

    Nomi Shi, Japan

    4 h-index

    5 publications

    78 citations

1–8 of 114

Venues

  1. Autonomous Robots

    6 publications · 262 citations

    6

    h-index

  2. Robotics and Autonomous Systems

    5 publications · 698 citations

    5

    h-index

  3. IEEE Transactions on Automatic Control

    4 publications · 2.1K citations

    4

    h-index

  4. IEEE Robotics and Automation Letters

    3 publications · 78 citations

    3

    h-index

  5. The International Journal of Robotics Research

    IJRR · 3 publications · 557 citations

    3

    h-index

1–5