Papers
5
Total Citations
264
H-Index
5
About
Gabriel Buche’s research centers on the control and stabilization of underactuated bipedal robots, with a focus on achieving dynamically stable walking and running. His most influential contribution is the experimental validation of a framework for designing controllers that induce stable walking in planar bipeds, as detailed in his 2004 paper, which has garnered 170 citations. This work introduced virtual constraints to enforce coordinated motion, enabling robots like RABBIT to walk robustly despite underactuation. Buche further advanced the field by developing control strategies that enhance robustness against disturbances, such as changes in foot-ground interaction, demonstrated in simulation and experiments with RABBIT (33 citations). His 2007 paper on achieving bipedal running with RABBIT—"Six Steps Toward Infinity"—marks a notable achievement in extending walking control to running gaits. Additionally, he explored neural network-based control (CMAC) to improve robustness, validated experimentally in 2006. With a total of over 260 citations across his key works, Buche’s research has significantly impacted the design of stable, efficient locomotion controllers for humanoid robots, providing foundational methods for both walking and running.
Research Focus
Key Achievements
Top Papers
- 1
- 2Control Strategy for the Robust Dynamic Walk of a Biped Robot33 citations · 2006
- 3
- 4Achieving Bipedal Running with RABBIT: Six Steps Toward Infinity26 citations · 2007
- 5