269 citations · 270 across the 3 of their papers we have counts for
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cs.RO2017★ 1 cited
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…
cs.RO2017
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…