Inertia

On the Adaptive Control of Robot Manipulators

Jean-Jacques Slotine, Weiping Li

Citations: 2258 • 1987

Series elastic actuators

Gill A. Pratt, Matthew M. Williamson

Citations: 2177 • 2002

Capture Point: A Step toward Humanoid Push Recovery

Jerry Pratt, John Carff, S. Drakunov, Ambarish Goswami

Citations: 1098 • 2006

A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots

Alin Albu‐Schäffer, Christian Ott, Gerd Hirzinger

Citations: 805 • 2007

The Calculation of Robot Dynamics Using Articulated-Body Inertias

Roy Featherstone

Citations: 577 • 1983

Estimation of Inertial Parameters of Manipulator Loads and Links

Christopher G. Atkeson, Chae An, John M. Hollerbach

Citations: 574 • 1986

The Aerodynamics of Free-Flight Maneuvers in <i>Drosophila</i>

Steven N. Fry, Rosalyn W. Sayaman, Michael H. Dickinson

Citations: 534 • 2003

Inertial Properties in Robotic Manipulation: An Object-Level Framework

Oussama Khatib

Citations: 533 • 1995

Unsteady forces and flows in low Reynolds number hovering flight:two-dimensional computations<i>vs</i>robotic wing experiments

Z. Jane Wang, James M. Birch, Michael H. Dickinson

Citations: 508 • 2003

Design Principles for Energy-Efficient Legged Locomotion and Implementation on the MIT Cheetah Robot

Sangok Seok, Albert Wang, Meng Yee Chuah, Dong Jin Hyun, Jongwoo Lee, David M. Otten, Jeffrey H. Lang, Sangbae Kim

Citations: 502 • 2014

Resolved momentum control: humanoid motion planning based on the linear and angular momentum

Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kiyoshi Fujiwara, Kensuke Harada, Kazuhito Yokoi, Hirohisa Hirukawa

Citations: 463 • 2004

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

P. Sardain, Guy Bessonnet

Citations: 461 • 2004

Centroidal dynamics of a humanoid robot

David E. Orin, Ambarish Goswami, Sung‐Hee Lee

Citations: 451 • 2013

Robot arm dynamics and control

A.K. Bejczy

Citations: 440 • 1974

Variable Impedance Control of Redundant Manipulators for Intuitive Human–Robot Physical Interaction

Fanny Ficuciello, Luigi Villani, Bruno Siciliano

Citations: 436 • 2015

Design principles for highly efficient quadrupeds and implementation on the MIT Cheetah robot

Sangok Seok, Albert Wang, Meng Yee Chuah, David M. Otten, Jeffrey H. Lang, Sangbae Kim

Citations: 433 • 2013

Control of Rotary Series Elastic Actuator for Ideal Force-Mode Actuation in Human–Robot Interaction Applications

Kyoungchul Kong, Joonbum Bae, Masayoshi Tomizuka

Citations: 428 • 2009

On the Passivity-Based Impedance Control of Flexible Joint Robots

Christian Ott, Alin Albu‐Schäffer, Andreas Kugi, G. Hirzinger

Citations: 417 • 2008

Closed-form dynamic model of planar multilink lightweight robots

Alessandro De Luca, Bruno Siciliano

Citations: 382 • 1991

Design, modeling, estimation and control for aerial grasping and manipulation

Daniel Mellinger, Quentin Lindsey, Michael Shomin, Vijay Kumar

Citations: 378 • 2011