269 citations · 270 across the 3 of their papers we have counts for
4 papers
Virtual Constraints and Hybrid Zero Dynamics for Realizing Underactuated Bipedal Locomotion
Jessy W Grizzle, Christine Chevallereau
Underactuation is ubiquitous in human locomotion and should be ubiquitous in bipedal robotic locomotion as well. This chapter presents a coherent theory for the design of feedback…
Self-synchronization and Self-stabilization of 3D Bipedal Walking Gaits
Christine Chevallereau, Hamed Razavi, Damien Six +2
This paper seeks insight into stabilization mechanisms for periodic walking gaits in 3D bipedal robots. Based on this insight, a control strategy based on virtual constraints, whic…
Restricted Discrete Invariance and Self-Synchronization For Stable Walking of Bipedal Robots
Hamed Razavi, Anthony M. Bloch, Christine Chevallereau +1
Models of bipedal locomotion are hybrid, with a continuous component often generated by a Lagrangian plus actuators, and a discrete component where leg transfer takes place. The di…
Asymptotically Stable Walking of a Five-Link Underactuated 3D Bipedal Robot
Christine Chevallereau, Jessy W. Grizzle, Ching-Long Shih
This paper presents three feedback controllers that achieve an asymptotically stable, periodic, and fast walking gait for a 3D (spatial) bipedal robot consisting of a torso, two le…