Papers citing 'First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach'

Title
Stable and Robust SLIP Model Control via Energy Conservation-Based Feedback Cancellation for Quadrupedal Applications Muhammad Saud Ul Hassan Derek Vasquez Hamza Asif Christian Hubicki 40 0 0 07 Nov 2025
Optimal Gait Design for a Soft Quadruped Robot via Multi-fidelity Bayesian Optimization Kaige Tan Xuezhi Niu Qinglei Ji Lei Feng Martin Törngren 192 7 0 11 Jun 2024
LeggedWalking on Inclined Surfaces Chenghao Wang 146 2 0 31 May 2023
Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait OptimizationIEEE International Conference on Robotics and Automation (ICRA), 2022 Maegan Tucker Noel Csomay-Shanklin Aaron D. Ames 212 4 0 21 Sep 2022
Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics Kejun Li Maegan Tucker Rachel Gehlhar Yisong Yue Aaron D. Ames 217 15 0 10 Sep 2021
Modeling and Trajectory Optimization for Standing Long Jumping of a Quadruped with A Preloaded Elastic Prismatic SpineIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2021 Keran Ye Konstantinos Karydis 128 12 0 01 Sep 2021
Zero Dynamics, Pendulum Models, and Angular Momentum in Feedback Control of Bipedal LocomotionJournal of Dynamic Systems Measurement, and Control (JDSMC), 2021 Yukai Gong J. Grizzle 143 53 0 17 May 2021
Preference-Based Learning for User-Guided HZD Gait Generation on Bipedal Walking Robots Maegan Tucker Noel Csomay-Shanklin Wen-Loong Ma Aaron D. Ames 211 24 0 10 Nov 2020
Extended Koopman Models Span Spanbauer Ian Hunter 46 1 0 14 Oct 2020
Improved Performance on Moving-Mass Hopping Robots with Parallel ElasticityIEEE International Conference on Robotics and Automation (ICRA), 2019 Eric R. Ambrose Aaron D. Ames 84 9 0 27 Sep 2019
From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait GenerationIEEE International Conference on Robotics and Automation (ICRA), 2019 Wen-Loong Ma Aaron D. Ames 179 15 0 18 Sep 2019