Zero moment point

Biped walking pattern generation by using preview control of zero-moment point

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

Citations: 2083 • 2004

ZERO-MOMENT POINT — THIRTY FIVE YEARS OF ITS LIFE

Miomir Vukobratović, Branislav Borovać

Citations: 2015 • 2004

Capture Point: A Step toward Humanoid Push Recovery

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

Citations: 1098 • 2006

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

Ambarish Goswami

Citations: 567 • 1999

Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models

Twan Koolen, Tomas de Boer, John R. Rebula, Ambarish Goswami, Jerry Pratt

Citations: 479 • 2012

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

P. Sardain, Guy Bessonnet

Citations: 461 • 2004

Real-time humanoid motion generation through ZMP manipulation based on inverted pendulum control

Tomomichi Sugihara, Yoshihiko Nakamura, H. Inoue

Citations: 460 • 2003

Development of a bipedal humanoid robot-control method of whole body cooperative dynamic biped walking

J. Yamaguchi, Eiji Soga, Shintaro Inoue, Atsuo Takanishi

Citations: 358 • 2003

Ground Reference Points in Legged Locomotion: Definitions, Biological Trajectories and Control Implications

Marko B. Popović, Ambarish Goswami, Hugh Herr

Citations: 324 • 2005

Learning, planning, and control for quadruped locomotion over challenging terrain

Mrinal Kalakrishnan, Jonas Buchli, Peter Pástor, Michael Mistry, Stefan Schaal

Citations: 297 • 2010

Dynamically-Stable Motion Planning for Humanoid Robots

James Kuffner, Satoshi Kagami, Koichi Nishiwaki, Masayuki Inaba, Hirochika Inoue

Citations: 268 • 2002

Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid

Jerry Pratt, Twan Koolen, Tomas de Boer, John R. Rebula, Sébastien Cotton, John Carff, Matthew Johnson, Peter Neuhaus

Citations: 263 • 2012

Biped robot walking using gravity-compensated inverted pendulum mode and computed torque control

Joo Hyun Park, K.D. Kim

Citations: 253 • 2002

Bipedal walking control based on Capture Point dynamics

Johannes Englsberger, Christian Ott, Máximo A. Roa, Alin Albu‐Schäffer, G. Hirzinger

Citations: 250 • 2011

Rate of change of angular momentum and balance maintenance of biped robots

Ambarish Goswami, Vinutha Kallem

Citations: 233 • 2004

Making feasible walking motion of humanoid robots from human motion capture data

Anirvan DasGupta, Yoshihiko Nakamura

Citations: 230 • 2003

Integrated motion control for walking, jumping and running on a small bipedal entertainment robot

Ken Nagasaka, Y. Kuroki, S. Suzuki, Youichi Itoh, J. Yamaguchi

Citations: 219 • 2004

Dynamic Locomotion Through Online Nonlinear Motion Optimization for Quadrupedal Robots

C. Dario Bellicoso, Fabian Jenelten, Christian Gehring, Marco Hutter

Citations: 204 • 2018

Natural ZMP Trajectories for Biped Robot Reference Generation

Kemalettin Erbatur, Okan Kurt

Citations: 195 • 2008

A universal stability criterion of the foot contact of legged robots - adios ZMP

Hirohisa Hirukawa, Shunichi Hattori, Kensuke Harada, Shuuji Kajita, Kenji Kaneko, Fumio Kanehiro, Kiyoshi Fujiwara, Mitsuharu Morisawa

Citations: 188 • 2006