A framework for the control of stable aperiodic walking in underactuated planar bipeds

ZERO-MOMENT POINT — THIRTY FIVE YEARS OF ITS LIFE

Miomir Vukobratović, Branislav Borovać · International Journal of Humanoid Robotics · 2004 · 2K citations

Engineering, Mechanical Engineering, Robotics Engineering +13

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

Engineering, Mechanical Engineering, 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

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

Forces Acting on a Biped Robot. Center of Pressure—Zero Moment Point

P. Sardain, Guy Bessonnet · IEEE Transactions on Systems Man and Cybernetics - Part A Systems and Humans · 2004 · 461 citations

Engineering, Robotics Engineering, Robot Dynamics +16