Alternative Locomotion Seminars...
ATR Legged Robots Reading Group [website]
Chris Atkeson's Legged Locomotion Seminar [website]
(Dead) MIT Legged Locomotion Class [website]
University of Zuerich's Locomotion Seminar [website]
University of Tuebingen Class (partially in German) [website]
24. Sept.Chapter 1: Introduction [slides]Srideep
 Chapter 2: Hopping on One Leg in the Plane [slides]Joanne
28. OctoberChapter 3: Hopping in Three DimensionsStefan
 Chapter 4: Biped and Quadruped Running [slides.pdf] [slides.key] ΔJan
5. Nov.Chapter 5: Symmetry in Running [slides.pdf] [slides.ppt]Michael
 Chapter 6: Alternatives for Locomotion Control [slides.pdf] [slides.ppt]Peyman
12. Nov.Chapter 7: Tabular Control of Running Stefan
 Chapter 8: Research on Animals and Vehicles [slides.pdf] [slides.ppt]Rick
Biped robots that once walked...
19. Nov.Video Session on Walking & Running Robots [slides.key] ΔSrideep
ZMP Control
26. Nov.Introduction: Vukobratovic, Biped Locomotion, pages 17-27 , 1990 [pdf] and Capi's ZMP Slides at ATR [pdf], Jans Slides [slides.key] ΔJan
20. Jan.Invited Speaker: Dr. Changjiu Zhou on Research Activities of his group in Humanoid Robotics at Singapore Polytechnic [slides][videos] Δ[website]Changjiu
 M. Vukobratovic et al., Zero-Moment Point - Proper Interpretation Unpublished Version [pdf], IEEE Humanoids 2001 Version[pdf]Stefan
27. Jan.Changjiu on "Control and Learning of Biped Locomotion" [slides][videos] Δ[website]Changjiu
5. Febr.S. Kagami et al., A Fast Dynamically Equilibrated Walking Trajectory Generation Method of Humanoid Robot, Autonomous Robots 2002 [pdf].Peyman
 A. Goswami, Postural stability of biped robots and the foot rotation indicator (FRI) point, IJRR 1999 [pdf].Stefan
17. Febr.Q. Huang et al., Planning Walking Patterns for a Biped Robot, IEEE Trans.R&A, 2001 [pdf]Jan
Analytical Approaches
24. Febr.C. Chevallereau, G. Abba, Y. Aoustin, F. Plestan, E.R. Westervelt, C. Canudas-de-Wit, and J.W. Grizzle RABBIT: A Testbed for Advanced Control Theory, Reprint, IEEE Control Systems Magazine, Vol. 23, No. 5, October, 2003, pp. 57-79 [pdf][slides][videos] Δ[website]Mike
 J.W. Grizzle, Gabriel Abba and Franck Plestan, Asymptotically Stable Walking for Biped Robots: Analysis via Systems with Impulse Effects,IEEE Trans on AC, Volume 46, No. 1, Jan. 2001, pp. 51-64. [pdf]
J. W. Grizzle, An Analytical Approach to Asymptotically Stable Walking in Planar Biped Robots , Super Mechano Symposium Conference, Nov. 19-20, 2001, Japan [pdf]
Passive Dynamic Walking
2. MarchMcGeer Walkers [slides] T. McGeer, Passive Dynamic Walking, IJRR, pp.62-82,1990. [pdf] [pdf]
T. McGeer, Passive Walking with Knees, IEEE ICRA '90, pp. 1640-1644. [pdf]
 Ruina Analysis of Passive Dynamic Walking M. Coleman and A. Ruina. A Tinkertoy R model that walks. Physical Review Letters, 1997. [pdf][videos] Δ[website] Collins, S. H., Wisse, M., and Ruina, A. (2001). "A 3-D passive-dynamic walking robot with two legs and knees." International Journal of Robotics Research [pdf][videos] ΔStefan
9. MarchKuo Analysis of Passive Dynamic Walking [slides]
Kuo, A. D. (1999) Stabilization of lateral motion in passive dynamic walking, International Journal of Robotics Research, 18(9): 917-930. [pdf][website]
 Actuating Passive Dynamic Walking [slides] Russ Tedrake, Teresa Weirui Zhang, Ming-fai Fong, and H. Sebastian Seung. (2004) Actuating a Simple 3D Passive Dynamic Walker. IEEE International Conference on Robotics and Automation (ICRA '04) [pdf][video] Δ
Steve Collins, Andy Ruina, Russ Tedrake, and Martijn Wisse. (2004) Powered bipedal robots based on unpowered walking toys. Submitted to Nature.[pdf]
Virtual Model Control
 J. Pratt, P. Delworth and G. Pratt, Virtual Model Control of a Bipedal Walking Robot , IEEE ICRA '97, pp. 193-198 [pdf].
J. Pratt and G. Pratt, Intuitive Control of a Planar Bipedal Walking Robot , IEEE ICRA '98, pp. 1024-2021 [pdf].
Biomechanics & Neurocontrol of Locomotion
 Mechanics of Locomotion? 
 K. G. Pearson and J. E. Misiaszek, Locomotion , University of Alberta, Edmonton, Canada. ENCYCLOPEDIA OF LIFE SCIENCES, 2001. Nature Publishing Group [pdf]. 
 Neural Control of Locomotion Avis H. Cohen, Control principles for locomotion - looking toward biology, AMAM 2003 [pdf]. C. Capaday, The special nature of human walking and its neural control, Trends in Neuroscience, vol. 25, no. 7 (2002) [pdf] 
 How do children learn to Walk? Thelen, E. (1986). Treadmill-elicited stepping in seven-month-old infants. Child Development, 57, 1498-1506. Burnside, L. H. (1927). Coordination in the Locomotion of Infants, Genetic Psychology Monographs, 2, 283-341.
Bertenthal, B. I. & Bai, D. L., (1989). Infants' sensitivity to optical flow for controlling posture. Developmental Psychology, 25, 936-945.
Benson, J.B. (1990). The significance and development of crawling in human infancy. In J. E. Clark, J. H. Humphrey, (Eds.) Advances in motor development research, Vol. 3, 91-142. New York: AMS Press, Inc.
Also compiled into: Richard Hefti, Learning to Walk, Seminar Thesis at Uni Zurich.
Biped Gaits
 J. Hodgins, Biped Gait Transitions, IEEE ICRA '91, pp. 2091-2097
K. Tsujita, K. Tsuchiya and A. Onat, Adaptive Gait Pattern Control of a Quadruped Locomotion Robot, IROS 2001
N. Troje, Decomposing biological motion: A framework for analysis and synthesis of human gait patterns , Journal of Vision 2, 371-387 (2002)
Between Passive and Active Dynamic Walking?
 F. Yamasaki, K. Hosoda and M. Asada, An Energy Consumption Based Control for Humnaoid Walking , IROS (2002)
J. Camp, Powered "Passive" dynamic walking , Master of Engineering Project Report, Cornell University (1997)
Central Pattern Generators
 MORE! E. Klavins, H. Komsuoglu, R. Full and D. E. Koditschek, The Role of Reflexes Versus Central Pattern Generators in Dynamical Legged Locomotion, in Neurotechnology for Biomimetic Robots, MIT Press [pdf]. 
Reinforcement Learning for Locomotion
 H. Benbrahim and J. Franklin, Biped Dynamic Walking using Reinforcement Learning, Robotics and Autonomous Systems, vol.22, 1997.
M. Sato et. al., Reinforcement Learning for Biped Locomotion , ICANN 2002
C. Zhou, Dynamic balance of a biped robot using reinforcement learning, (several papers 2001-3) [pdf.tgz] Δ
J. Morimoto et. al., Robust Low Torque Biped Walking using Differential Dynamic Programming with a Minimax Criterion, submitted to CLAWAR 2002.


zum Seitenanfang