Alexandria Digital Research Library

Accurate step length control strategies for underactuated and realistic series elastic actuated hoppers via high order PFL

Reachability and Real-Time Actuation Strategies for the Active SLIP Model

Tractable Quantification of Metastability for Robust Bipedal Locomotion

ZMP and value iteration based planning to assist fast walking for RoboSimian

Exploring transition trajectory from quadrupedal Stance using ZMP based bang-bang control and quadratic programming

Passive dynamics and maneuverability in flapping-wing robots