Locomotion Control of a Biped Robot Using Nonlinear Oscillators

Self-organized control of bipedal locomotion by neural oscillators in unpredictable environment

Gentaro Taga, Yoko Yamaguchi, Hiroshi Shimizu · Biological Cybernetics · 1991 · 1K citations

Engineering, Neuroscience, Robotics Engineering +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

Engineering, Mechanical Engineering, Robotics Engineering +17

Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain Based on Biological Concepts

Yasuhiro Fukuoka, Hiroshi Kimura, Avis H. Cohen · The International Journal of Robotics Research · 2003 · 626 citations

Engineering, Robotics Engineering, Biomechanics +16

Postural Stability of Biped Robots and the Foot-Rotation Indicator (FRI) Point

Ambarish Goswami · The International Journal of Robotics Research · 1999 · 568 citations

Engineering, Mechanical Engineering, Robotics Engineering +17

A model of the neuro-musculo-skeletal system for human locomotion

Gentaro Taga · Biological Cybernetics · 1995 · 561 citations

Life Sciences, Anatomy, Physiology +14